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<li class="navelem"><a class="el" href="dir_bdd9a5d540de89e9fe90efdfc6973a4f.html">common</a></li>  </ul>
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<div class="title">data_bus.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">This is part of OpenLoong Dynamics Control, an open project for the control of biped robot,</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">Copyright (C) 2024 Humanoid Robot (Shanghai) Co., Ltd, under Apache 2.0.</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">Feel free to use in any purpose, and cite OpenLoong-Dynamics-Control in any style, to contribute to the advancement of the community.</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> &lt;https://gitee.com/panda_23/openloong-dyn-control.git&gt;</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> &lt;web@openloong.org.cn&gt;</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">*/</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#pragma once</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160; </div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &quot;Eigen/Dense&quot;</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &lt;iostream&gt;</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &quot;iomanip&quot;</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160; </div>
<div class="line"><a name="l00022"></a><span class="lineno"><a class="line" href="structDataBus.html">   22</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structDataBus.html">DataBus</a>{</div>
<div class="line"><a name="l00023"></a><span class="lineno"><a class="line" href="structDataBus.html#ab9671a85da9b64c8be6c8d7d822c3db9">   23</a></span>&#160;    <span class="keyword">const</span> <span class="keywordtype">int</span> <a class="code" href="structDataBus.html#ab9671a85da9b64c8be6c8d7d822c3db9">model_nv</a>; </div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160; </div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;    <span class="comment">// const values for frame mismatch</span></div>
<div class="line"><a name="l00026"></a><span class="lineno"><a class="line" href="structDataBus.html#ae91319ee83a8cf354911f14955449283">   26</a></span>&#160;    <span class="keyword">const</span> Eigen::Matrix3d <a class="code" href="structDataBus.html#ae91319ee83a8cf354911f14955449283">fe_L_rot_L_off</a>=(Eigen::MatrixXd(3,3)&lt;&lt; 1,0,0, 0,1,0, 0,0,1).finished();   </div>
<div class="line"><a name="l00027"></a><span class="lineno"><a class="line" href="structDataBus.html#af13c859c256c7844154a2aac483123bd">   27</a></span>&#160;    <span class="keyword">const</span> Eigen::Matrix3d <a class="code" href="structDataBus.html#af13c859c256c7844154a2aac483123bd">fe_R_rot_L_off</a>=(Eigen::MatrixXd(3,3)&lt;&lt; 1,0,0, 0,1,0, 0,0,1).finished();   </div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160; </div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;    <span class="comment">// motors, sensors and states feedback</span></div>
<div class="line"><a name="l00030"></a><span class="lineno"><a class="line" href="structDataBus.html#a9b45a5287b92f51cc27899eee18f9ff2">   30</a></span>&#160;    <span class="keywordtype">double</span> <a class="code" href="structDataBus.html#a9b45a5287b92f51cc27899eee18f9ff2">rpy</a>[3];                      </div>
<div class="line"><a name="l00031"></a><span class="lineno"><a class="line" href="structDataBus.html#aadc53e4bcea2d069903b5de3274d5058">   31</a></span>&#160;    <span class="keywordtype">double</span> <a class="code" href="structDataBus.html#aadc53e4bcea2d069903b5de3274d5058">fL</a>[3];                       </div>
<div class="line"><a name="l00032"></a><span class="lineno"><a class="line" href="structDataBus.html#ab3279b454456687b2293f804b7e70390">   32</a></span>&#160;    <span class="keywordtype">double</span> <a class="code" href="structDataBus.html#ab3279b454456687b2293f804b7e70390">fR</a>[3];                       </div>
<div class="line"><a name="l00033"></a><span class="lineno"><a class="line" href="structDataBus.html#a66bfad87a864abd89bd6a0308e65ebc4">   33</a></span>&#160;    <span class="keywordtype">double</span> <a class="code" href="structDataBus.html#a66bfad87a864abd89bd6a0308e65ebc4">basePos</a>[3];                  </div>
<div class="line"><a name="l00034"></a><span class="lineno"><a class="line" href="structDataBus.html#a5b79678006c606fc8e70a082f4fb1fe4">   34</a></span>&#160;    <span class="keywordtype">double</span> <a class="code" href="structDataBus.html#a5b79678006c606fc8e70a082f4fb1fe4">baseLinVel</a>[3];               </div>
<div class="line"><a name="l00035"></a><span class="lineno"><a class="line" href="structDataBus.html#a0197a7fdd8fd08faa9981b7e9f758a2d">   35</a></span>&#160;    <span class="keywordtype">double</span> <a class="code" href="structDataBus.html#a0197a7fdd8fd08faa9981b7e9f758a2d">baseAcc</a>[3];                  </div>
<div class="line"><a name="l00036"></a><span class="lineno"><a class="line" href="structDataBus.html#acc95bd4d4d7820893823fc0ad5ac3526">   36</a></span>&#160;    <span class="keywordtype">double</span> <a class="code" href="structDataBus.html#acc95bd4d4d7820893823fc0ad5ac3526">baseAngVel</a>[3];               </div>
<div class="line"><a name="l00037"></a><span class="lineno"><a class="line" href="structDataBus.html#a44f2d7d4c5921d086e842faf04d6b5e3">   37</a></span>&#160;    std::vector&lt;double&gt; <a class="code" href="structDataBus.html#a44f2d7d4c5921d086e842faf04d6b5e3">motors_pos_cur</a>; </div>
<div class="line"><a name="l00038"></a><span class="lineno"><a class="line" href="structDataBus.html#a6e174173373c09044fe77214ac22d61b">   38</a></span>&#160;    std::vector&lt;double&gt; <a class="code" href="structDataBus.html#a6e174173373c09044fe77214ac22d61b">motors_vel_cur</a>; </div>
<div class="line"><a name="l00039"></a><span class="lineno"><a class="line" href="structDataBus.html#a1996047c3f808dda9f4cc3944d0d486a">   39</a></span>&#160;    std::vector&lt;double&gt; <a class="code" href="structDataBus.html#a1996047c3f808dda9f4cc3944d0d486a">motors_tor_cur</a>; </div>
<div class="line"><a name="l00040"></a><span class="lineno"><a class="line" href="structDataBus.html#ab45a37863d3650eb9fde838c427eea72">   40</a></span>&#160;    Eigen::VectorXd <a class="code" href="structDataBus.html#ab45a37863d3650eb9fde838c427eea72">FL_est</a>,             </div>
<div class="line"><a name="l00041"></a><span class="lineno"><a class="line" href="structDataBus.html#a15ddd144e2234a2bb6e33b8c2da92b8e">   41</a></span>&#160;        <a class="code" href="structDataBus.html#a15ddd144e2234a2bb6e33b8c2da92b8e">FR_est</a>;                         </div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;    <span class="comment">// PVT controls</span></div>
<div class="line"><a name="l00044"></a><span class="lineno"><a class="line" href="structDataBus.html#a8426d381e3812f1223a8029f5f0ca5a3">   44</a></span>&#160;    std::vector&lt;double&gt; <a class="code" href="structDataBus.html#a8426d381e3812f1223a8029f5f0ca5a3">motors_pos_des</a>; </div>
<div class="line"><a name="l00045"></a><span class="lineno"><a class="line" href="structDataBus.html#a0510f771e207671abbddd60b94cc58fb">   45</a></span>&#160;    std::vector&lt;double&gt; <a class="code" href="structDataBus.html#a0510f771e207671abbddd60b94cc58fb">motors_vel_des</a>; </div>
<div class="line"><a name="l00046"></a><span class="lineno"><a class="line" href="structDataBus.html#a9c4fd58f3ce8b0d79f96431c45e3dc87">   46</a></span>&#160;    std::vector&lt;double&gt; <a class="code" href="structDataBus.html#a9c4fd58f3ce8b0d79f96431c45e3dc87">motors_tor_des</a>; </div>
<div class="line"><a name="l00047"></a><span class="lineno"><a class="line" href="structDataBus.html#a146a3c93dea478ed4c2bc88d120a6204">   47</a></span>&#160;    std::vector&lt;double&gt; <a class="code" href="structDataBus.html#a146a3c93dea478ed4c2bc88d120a6204">motors_tor_out</a>; </div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160; </div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    <span class="comment">// states and key variables</span></div>
<div class="line"><a name="l00050"></a><span class="lineno"><a class="line" href="structDataBus.html#a1edc3a08678a00bdb4eb755a3157ec9b">   50</a></span>&#160;    Eigen::VectorXd <a class="code" href="structDataBus.html#a1edc3a08678a00bdb4eb755a3157ec9b">q</a>,      </div>
<div class="line"><a name="l00051"></a><span class="lineno"><a class="line" href="structDataBus.html#a1e20ca2abda0e8342aa07eaf4b7adaa4">   51</a></span>&#160;        <a class="code" href="structDataBus.html#a1e20ca2abda0e8342aa07eaf4b7adaa4">dq</a>,                 </div>
<div class="line"><a name="l00052"></a><span class="lineno"><a class="line" href="structDataBus.html#a0564a337e371809806d164ce3946de28">   52</a></span>&#160;        <a class="code" href="structDataBus.html#a0564a337e371809806d164ce3946de28">ddq</a>;                </div>
<div class="line"><a name="l00053"></a><span class="lineno"><a class="line" href="structDataBus.html#acca5e5ffdbc107b465d5c291617e34a6">   53</a></span>&#160;    Eigen::VectorXd <a class="code" href="structDataBus.html#acca5e5ffdbc107b465d5c291617e34a6">qOld</a>;   </div>
<div class="line"><a name="l00054"></a><span class="lineno"><a class="line" href="structDataBus.html#a72d6adca7adb79b4ed026eb6a75b7dce">   54</a></span>&#160;    Eigen::MatrixXd <a class="code" href="structDataBus.html#a72d6adca7adb79b4ed026eb6a75b7dce">J_base</a>, </div>
<div class="line"><a name="l00055"></a><span class="lineno"><a class="line" href="structDataBus.html#a3d71c2856c6ecbfec729a09024d026f8">   55</a></span>&#160;        <a class="code" href="structDataBus.html#a3d71c2856c6ecbfec729a09024d026f8">J_l</a>,                </div>
<div class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="structDataBus.html#a8901e359598639544806c2ccde5cc7b3">   56</a></span>&#160;        <a class="code" href="structDataBus.html#a8901e359598639544806c2ccde5cc7b3">J_r</a>,                </div>
<div class="line"><a name="l00057"></a><span class="lineno"><a class="line" href="structDataBus.html#a160475450d1af7e42d88d345c498f5ae">   57</a></span>&#160;        <a class="code" href="structDataBus.html#a160475450d1af7e42d88d345c498f5ae">J_hd_l</a>,             </div>
<div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="structDataBus.html#a8174314fc64353b48695467949dddb20">   58</a></span>&#160;        <a class="code" href="structDataBus.html#a8174314fc64353b48695467949dddb20">J_hd_r</a>;             </div>
<div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="structDataBus.html#ad3ec45a371e1a6cb72a158e651647cd6">   59</a></span>&#160;    Eigen::MatrixXd <a class="code" href="structDataBus.html#ad3ec45a371e1a6cb72a158e651647cd6">dJ_base</a>,        </div>
<div class="line"><a name="l00060"></a><span class="lineno"><a class="line" href="structDataBus.html#af02ef8e966761be5381e8f8ce1f4f324">   60</a></span>&#160;        <a class="code" href="structDataBus.html#af02ef8e966761be5381e8f8ce1f4f324">dJ_l</a>,                       </div>
<div class="line"><a name="l00061"></a><span class="lineno"><a class="line" href="structDataBus.html#aad4b760c5cb1103d2409810f887cace3">   61</a></span>&#160;        <a class="code" href="structDataBus.html#aad4b760c5cb1103d2409810f887cace3">dJ_r</a>,                       </div>
<div class="line"><a name="l00062"></a><span class="lineno"><a class="line" href="structDataBus.html#a6e6e46a9c55551f1f13b82d9f62ec1fc">   62</a></span>&#160;        <a class="code" href="structDataBus.html#a6e6e46a9c55551f1f13b82d9f62ec1fc">dJ_hd_l</a>,                    </div>
<div class="line"><a name="l00063"></a><span class="lineno"><a class="line" href="structDataBus.html#ab99c2d927ac41782cefe44509bf20322">   63</a></span>&#160;        <a class="code" href="structDataBus.html#ab99c2d927ac41782cefe44509bf20322">dJ_hd_r</a>;                    </div>
<div class="line"><a name="l00064"></a><span class="lineno"><a class="line" href="structDataBus.html#a1bb8296c8580550caf059e975149658e">   64</a></span>&#160;    Eigen::Vector3d <a class="code" href="structDataBus.html#a1bb8296c8580550caf059e975149658e">fe_r_pos_W</a>,     </div>
<div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="structDataBus.html#a05ae4114523a0df9822667297ba5046d">   65</a></span>&#160;        <a class="code" href="structDataBus.html#a05ae4114523a0df9822667297ba5046d">fe_l_pos_W</a>,                 </div>
<div class="line"><a name="l00066"></a><span class="lineno"><a class="line" href="structDataBus.html#a7bb7e1397ba963e17e1f840cc7abd610">   66</a></span>&#160;        <a class="code" href="structDataBus.html#a7bb7e1397ba963e17e1f840cc7abd610">base_pos</a>;                   </div>
<div class="line"><a name="l00067"></a><span class="lineno"><a class="line" href="structDataBus.html#ad8eeb01c84d65c903a3e6190925af3f2">   67</a></span>&#160;    Eigen::Matrix3d <a class="code" href="structDataBus.html#ad8eeb01c84d65c903a3e6190925af3f2">fe_r_rot_W</a>,     </div>
<div class="line"><a name="l00068"></a><span class="lineno"><a class="line" href="structDataBus.html#a97432e506d995437e3cb622002cac9d4">   68</a></span>&#160;        <a class="code" href="structDataBus.html#a97432e506d995437e3cb622002cac9d4">fe_l_rot_W</a>,                 </div>
<div class="line"><a name="l00069"></a><span class="lineno"><a class="line" href="structDataBus.html#a0113f7940144a8e35089fd9818e8d70b">   69</a></span>&#160;        <a class="code" href="structDataBus.html#a0113f7940144a8e35089fd9818e8d70b">base_rot</a>;                   </div>
<div class="line"><a name="l00070"></a><span class="lineno"><a class="line" href="structDataBus.html#ad4c67bd1538d0e0c6f101de61219666a">   70</a></span>&#160;    Eigen::Vector3d <a class="code" href="structDataBus.html#ad4c67bd1538d0e0c6f101de61219666a">fe_r_pos_L</a>,     </div>
<div class="line"><a name="l00071"></a><span class="lineno"><a class="line" href="structDataBus.html#a3300095871d62258ed87b0a8b00e6b95">   71</a></span>&#160;        <a class="code" href="structDataBus.html#a3300095871d62258ed87b0a8b00e6b95">fe_l_pos_L</a>;                 </div>
<div class="line"><a name="l00072"></a><span class="lineno"><a class="line" href="structDataBus.html#a614b57b26f48851c0da4a87721efe71b">   72</a></span>&#160;    Eigen::Vector3d <a class="code" href="structDataBus.html#a614b57b26f48851c0da4a87721efe71b">hip_r_pos_L</a>,    </div>
<div class="line"><a name="l00073"></a><span class="lineno"><a class="line" href="structDataBus.html#a202f9dff68b4a72cca3ee73d6e80553e">   73</a></span>&#160;        <a class="code" href="structDataBus.html#a202f9dff68b4a72cca3ee73d6e80553e">hip_l_pos_L</a>;                </div>
<div class="line"><a name="l00074"></a><span class="lineno"><a class="line" href="structDataBus.html#a28192a2cec986c703498af32d7b1de54">   74</a></span>&#160;    Eigen::Vector3d <a class="code" href="structDataBus.html#a28192a2cec986c703498af32d7b1de54">hip_r_pos_W</a>,    </div>
<div class="line"><a name="l00075"></a><span class="lineno"><a class="line" href="structDataBus.html#a2481f4929359c2f0fbdb6924f5f77958">   75</a></span>&#160;        <a class="code" href="structDataBus.html#a2481f4929359c2f0fbdb6924f5f77958">hip_l_pos_W</a>;                </div>
<div class="line"><a name="l00076"></a><span class="lineno"><a class="line" href="structDataBus.html#a8e2b1bd1613049d6fa70ae08830aa034">   76</a></span>&#160;    Eigen::Matrix3d <a class="code" href="structDataBus.html#a8e2b1bd1613049d6fa70ae08830aa034">fe_r_rot_L</a>,     </div>
<div class="line"><a name="l00077"></a><span class="lineno"><a class="line" href="structDataBus.html#a95d6800597841b02f27880933a50ef70">   77</a></span>&#160;        <a class="code" href="structDataBus.html#a95d6800597841b02f27880933a50ef70">fe_l_rot_L</a>;                 </div>
<div class="line"><a name="l00078"></a><span class="lineno"><a class="line" href="structDataBus.html#a38c64e972770545c6756d4d942dbaef4">   78</a></span>&#160;    Eigen::Vector3d <a class="code" href="structDataBus.html#a38c64e972770545c6756d4d942dbaef4">fe_r_pos_L_cmd</a>, </div>
<div class="line"><a name="l00079"></a><span class="lineno"><a class="line" href="structDataBus.html#a5803b796bfc91a296508483241e3b2b0">   79</a></span>&#160;        <a class="code" href="structDataBus.html#a5803b796bfc91a296508483241e3b2b0">fe_l_pos_L_cmd</a>;             </div>
<div class="line"><a name="l00080"></a><span class="lineno"><a class="line" href="structDataBus.html#ae96ef6b47b338248de9ba62fb99b7879">   80</a></span>&#160;    Eigen::Matrix3d <a class="code" href="structDataBus.html#ae96ef6b47b338248de9ba62fb99b7879">fe_r_rot_L_cmd</a>, </div>
<div class="line"><a name="l00081"></a><span class="lineno"><a class="line" href="structDataBus.html#a2bb16ba735000cbab0dfa8de182a11ab">   81</a></span>&#160;        <a class="code" href="structDataBus.html#a2bb16ba735000cbab0dfa8de182a11ab">fe_l_rot_L_cmd</a>;             </div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160; </div>
<div class="line"><a name="l00083"></a><span class="lineno"><a class="line" href="structDataBus.html#aa1bf2f25cbec034e564125d6890df8f7">   83</a></span>&#160;    Eigen::Vector3d <a class="code" href="structDataBus.html#aa1bf2f25cbec034e564125d6890df8f7">hd_r_pos_W</a>,   </div>
<div class="line"><a name="l00084"></a><span class="lineno"><a class="line" href="structDataBus.html#a9582a6fdf672e9dd3f08a390758aafaf">   84</a></span>&#160;        <a class="code" href="structDataBus.html#a9582a6fdf672e9dd3f08a390758aafaf">hd_l_pos_W</a>;               </div>
<div class="line"><a name="l00085"></a><span class="lineno"><a class="line" href="structDataBus.html#a2ebe414c042f067bc8819b43c9436832">   85</a></span>&#160;    Eigen::Matrix3d <a class="code" href="structDataBus.html#a2ebe414c042f067bc8819b43c9436832">hd_r_rot_W</a>,   </div>
<div class="line"><a name="l00086"></a><span class="lineno"><a class="line" href="structDataBus.html#a0b4be606ac9be86dc76f6e562d4af358">   86</a></span>&#160;        <a class="code" href="structDataBus.html#a0b4be606ac9be86dc76f6e562d4af358">hd_l_rot_W</a>;               </div>
<div class="line"><a name="l00087"></a><span class="lineno"><a class="line" href="structDataBus.html#ab7eb16bbdf791e8f4e08e10cacf9e1fa">   87</a></span>&#160;    Eigen::Vector3d <a class="code" href="structDataBus.html#ab7eb16bbdf791e8f4e08e10cacf9e1fa">hd_r_pos_L</a>,   </div>
<div class="line"><a name="l00088"></a><span class="lineno"><a class="line" href="structDataBus.html#aa460fea6d01355839c3508373c607170">   88</a></span>&#160;        <a class="code" href="structDataBus.html#aa460fea6d01355839c3508373c607170">hd_l_pos_L</a>;               </div>
<div class="line"><a name="l00089"></a><span class="lineno"><a class="line" href="structDataBus.html#a30ea99f034a267da0c909900a972f132">   89</a></span>&#160;    Eigen::Matrix3d <a class="code" href="structDataBus.html#a30ea99f034a267da0c909900a972f132">hd_r_rot_L</a>,   </div>
<div class="line"><a name="l00090"></a><span class="lineno"><a class="line" href="structDataBus.html#a938f8a1673963dde6924779b9377f3f6">   90</a></span>&#160;        <a class="code" href="structDataBus.html#a938f8a1673963dde6924779b9377f3f6">hd_l_rot_L</a>;               </div>
<div class="line"><a name="l00091"></a><span class="lineno"><a class="line" href="structDataBus.html#a985be244042640dea42db4147c4e625b">   91</a></span>&#160;    Eigen::VectorXd <a class="code" href="structDataBus.html#a985be244042640dea42db4147c4e625b">qCmd</a>,         </div>
<div class="line"><a name="l00092"></a><span class="lineno"><a class="line" href="structDataBus.html#a6a5d9134fc0bae50e92f0dbf4c827544">   92</a></span>&#160;        <a class="code" href="structDataBus.html#a6a5d9134fc0bae50e92f0dbf4c827544">dqCmd</a>;                    </div>
<div class="line"><a name="l00093"></a><span class="lineno"><a class="line" href="structDataBus.html#a6c1e3ed7c41b379a2f60ba5ee67f2ed9">   93</a></span>&#160;    Eigen::VectorXd <a class="code" href="structDataBus.html#a6c1e3ed7c41b379a2f60ba5ee67f2ed9">tauJointCmd</a>;  </div>
<div class="line"><a name="l00094"></a><span class="lineno"><a class="line" href="structDataBus.html#a89e3ed169f2093e233629aebeb105fbc">   94</a></span>&#160;    Eigen::MatrixXd <a class="code" href="structDataBus.html#a89e3ed169f2093e233629aebeb105fbc">dyn_M</a>,        </div>
<div class="line"><a name="l00095"></a><span class="lineno"><a class="line" href="structDataBus.html#a7ddad63ca212708e9e3c880567c9f99a">   95</a></span>&#160;        <a class="code" href="structDataBus.html#a7ddad63ca212708e9e3c880567c9f99a">dyn_M_inv</a>,                </div>
<div class="line"><a name="l00096"></a><span class="lineno"><a class="line" href="structDataBus.html#ac2c307051d65ea3679fdc630ac28bbc2">   96</a></span>&#160;        <a class="code" href="structDataBus.html#ac2c307051d65ea3679fdc630ac28bbc2">dyn_C</a>,                    </div>
<div class="line"><a name="l00097"></a><span class="lineno"><a class="line" href="structDataBus.html#ad7a084dee55715eb8e65307137d71ee5">   97</a></span>&#160;        <a class="code" href="structDataBus.html#ad7a084dee55715eb8e65307137d71ee5">dyn_Ag</a>,                   </div>
<div class="line"><a name="l00098"></a><span class="lineno"><a class="line" href="structDataBus.html#ae46a01b6e4a05927577e0f9a58bb9528">   98</a></span>&#160;        <a class="code" href="structDataBus.html#ae46a01b6e4a05927577e0f9a58bb9528">dyn_dAg</a>;                  </div>
<div class="line"><a name="l00099"></a><span class="lineno"><a class="line" href="structDataBus.html#a29ea8abda4616465d07ecacf866f7ab6">   99</a></span>&#160;    Eigen::VectorXd <a class="code" href="structDataBus.html#a29ea8abda4616465d07ecacf866f7ab6">dyn_G</a>,        </div>
<div class="line"><a name="l00100"></a><span class="lineno"><a class="line" href="structDataBus.html#a377a7cdd1719fbdd45391759c52937f4">  100</a></span>&#160;        <a class="code" href="structDataBus.html#a377a7cdd1719fbdd45391759c52937f4">dyn_Non</a>;                  </div>
<div class="line"><a name="l00101"></a><span class="lineno"><a class="line" href="structDataBus.html#ae779042fd8fb64ba3e21a505c5f1a6d6">  101</a></span>&#160;    Eigen::Vector3d <a class="code" href="structDataBus.html#ae779042fd8fb64ba3e21a505c5f1a6d6">base_omega_L</a>, </div>
<div class="line"><a name="l00102"></a><span class="lineno"><a class="line" href="structDataBus.html#aafbebba614c6bc9e1cebd6a432a44ad2">  102</a></span>&#160;        <a class="code" href="structDataBus.html#aafbebba614c6bc9e1cebd6a432a44ad2">base_omega_W</a>,             </div>
<div class="line"><a name="l00103"></a><span class="lineno"><a class="line" href="structDataBus.html#a707d4278aa346e8677a87c95f6edb7bb">  103</a></span>&#160;        <a class="code" href="structDataBus.html#a707d4278aa346e8677a87c95f6edb7bb">base_rpy</a>;                 </div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160; </div>
<div class="line"><a name="l00105"></a><span class="lineno"><a class="line" href="structDataBus.html#aede1ab3d0316d9f1d1f5275c35282f33">  105</a></span>&#160;    Eigen::Vector3d <a class="code" href="structDataBus.html#aede1ab3d0316d9f1d1f5275c35282f33">slop</a>;                </div>
<div class="line"><a name="l00106"></a><span class="lineno"><a class="line" href="structDataBus.html#a5e70930038178da11905e640cfb957d3">  106</a></span>&#160;    Eigen::Matrix&lt;double, 3, 3&gt; <a class="code" href="structDataBus.html#a5e70930038178da11905e640cfb957d3">inertia</a>; </div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160; </div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;    <span class="comment">// cmd value from the joystick interpreter</span></div>
<div class="line"><a name="l00109"></a><span class="lineno"><a class="line" href="structDataBus.html#a92a868be7ed2d886f266e844399762dd">  109</a></span>&#160;    Eigen::Vector3d <a class="code" href="structDataBus.html#a92a868be7ed2d886f266e844399762dd">js_eul_des</a>;   </div>
<div class="line"><a name="l00110"></a><span class="lineno"><a class="line" href="structDataBus.html#a298ff350cb0f7dc9679fb90909aa4650">  110</a></span>&#160;    Eigen::Vector3d <a class="code" href="structDataBus.html#a298ff350cb0f7dc9679fb90909aa4650">js_pos_des</a>;   </div>
<div class="line"><a name="l00111"></a><span class="lineno"><a class="line" href="structDataBus.html#a176bf04fd501acfa68ee3083532df705">  111</a></span>&#160;    Eigen::Vector3d <a class="code" href="structDataBus.html#a176bf04fd501acfa68ee3083532df705">js_omega_des</a>; </div>
<div class="line"><a name="l00112"></a><span class="lineno"><a class="line" href="structDataBus.html#a05de3821b1aa986adc8a98ec8469d55a">  112</a></span>&#160;    Eigen::Vector3d <a class="code" href="structDataBus.html#a05de3821b1aa986adc8a98ec8469d55a">js_vel_des</a>;   </div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;    <span class="comment">// cmd values for MPC</span></div>
<div class="line"><a name="l00114"></a><span class="lineno"><a class="line" href="structDataBus.html#af419057fb271481e6a87001d5610eb8e">  114</a></span>&#160;    Eigen::VectorXd <a class="code" href="structDataBus.html#af419057fb271481e6a87001d5610eb8e">Xd</a>;    </div>
<div class="line"><a name="l00115"></a><span class="lineno"><a class="line" href="structDataBus.html#af0d2fc25fbd40d7ac179b5779f2c40ff">  115</a></span>&#160;    Eigen::VectorXd <a class="code" href="structDataBus.html#af0d2fc25fbd40d7ac179b5779f2c40ff">X_cur</a>; </div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;    <span class="comment">//    Eigen::Vector3d     mpc_eul_des;</span></div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;    <span class="comment">//    Eigen::Vector3d     mpc_pos_des;</span></div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;    <span class="comment">//    Eigen::Vector3d     mpc_omega_des;</span></div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;    <span class="comment">//    Eigen::Vector3d     mpc_vel_des;</span></div>
<div class="line"><a name="l00120"></a><span class="lineno"><a class="line" href="structDataBus.html#a0e9b3fcc75265308f10ba5862815087a">  120</a></span>&#160;    Eigen::VectorXd <a class="code" href="structDataBus.html#a0e9b3fcc75265308f10ba5862815087a">X_cal</a>;            </div>
<div class="line"><a name="l00121"></a><span class="lineno"><a class="line" href="structDataBus.html#acd18e8fba3e72021ab80a98aa369c8f4">  121</a></span>&#160;    Eigen::VectorXd <a class="code" href="structDataBus.html#acd18e8fba3e72021ab80a98aa369c8f4">dX_cal</a>;           </div>
<div class="line"><a name="l00122"></a><span class="lineno"><a class="line" href="structDataBus.html#afd875c0de2f7f46587f3ebe4ae73d2fa">  122</a></span>&#160;    Eigen::VectorXd <a class="code" href="structDataBus.html#afd875c0de2f7f46587f3ebe4ae73d2fa">fe_react_tau_cmd</a>; </div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160; </div>
<div class="line"><a name="l00124"></a><span class="lineno"><a class="line" href="structDataBus.html#aa0f7ebdfdf0f8f731c742bed2e6303ed">  124</a></span>&#160;    <span class="keywordtype">double</span> <a class="code" href="structDataBus.html#aa0f7ebdfdf0f8f731c742bed2e6303ed">qp_nWSR_MPC</a>, </div>
<div class="line"><a name="l00125"></a><span class="lineno"><a class="line" href="structDataBus.html#a6f017e61e7fc6b9c45ef671a710b34bc">  125</a></span>&#160;        <a class="code" href="structDataBus.html#a6f017e61e7fc6b9c45ef671a710b34bc">qp_cpuTime_MPC</a>, </div>
<div class="line"><a name="l00126"></a><span class="lineno"><a class="line" href="structDataBus.html#a252ca3e33ac63c8f45edfff68100189e">  126</a></span>&#160;        <a class="code" href="structDataBus.html#a252ca3e33ac63c8f45edfff68100189e">qpStatus_MPC</a>;   </div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160; </div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;    <span class="comment">// cmd values for WBC</span></div>
<div class="line"><a name="l00129"></a><span class="lineno"><a class="line" href="structDataBus.html#af03f33eb3cb6bcf43ff21cee18b2a2e6">  129</a></span>&#160;    Eigen::Vector3d <a class="code" href="structDataBus.html#af03f33eb3cb6bcf43ff21cee18b2a2e6">base_rpy_des</a>;        </div>
<div class="line"><a name="l00130"></a><span class="lineno"><a class="line" href="structDataBus.html#ac4981d5de060aa4bb117f39c2563c6ba">  130</a></span>&#160;    Eigen::Vector3d <a class="code" href="structDataBus.html#ac4981d5de060aa4bb117f39c2563c6ba">base_pos_des</a>;        </div>
<div class="line"><a name="l00131"></a><span class="lineno"><a class="line" href="structDataBus.html#a131e7ab67172ee9934441b5c00187363">  131</a></span>&#160;    Eigen::VectorXd <a class="code" href="structDataBus.html#a131e7ab67172ee9934441b5c00187363">des_ddq</a>,             </div>
<div class="line"><a name="l00132"></a><span class="lineno"><a class="line" href="structDataBus.html#a4c495f9b2d97807c38e726dbada293a7">  132</a></span>&#160;        <a class="code" href="structDataBus.html#a4c495f9b2d97807c38e726dbada293a7">des_dq</a>,                          </div>
<div class="line"><a name="l00133"></a><span class="lineno"><a class="line" href="structDataBus.html#a09bff47a59cfc71aff09f62df7f4f95e">  133</a></span>&#160;        <a class="code" href="structDataBus.html#a09bff47a59cfc71aff09f62df7f4f95e">des_delta_q</a>,                     </div>
<div class="line"><a name="l00134"></a><span class="lineno"><a class="line" href="structDataBus.html#aa1b32738002109b3d8dafb4fd61dac2f">  134</a></span>&#160;        <a class="code" href="structDataBus.html#aa1b32738002109b3d8dafb4fd61dac2f">des_q</a>;                           </div>
<div class="line"><a name="l00135"></a><span class="lineno"><a class="line" href="structDataBus.html#aa0e8b071bd5d432229b0f31ef839c3f3">  135</a></span>&#160;    Eigen::Vector3d <a class="code" href="structDataBus.html#aa0e8b071bd5d432229b0f31ef839c3f3">swing_fe_pos_des_W</a>;  </div>
<div class="line"><a name="l00136"></a><span class="lineno"><a class="line" href="structDataBus.html#a286e3619258ff05a05c1c7858caa03fa">  136</a></span>&#160;    Eigen::Vector3d <a class="code" href="structDataBus.html#a286e3619258ff05a05c1c7858caa03fa">swing_fe_rpy_des_W</a>;  </div>
<div class="line"><a name="l00137"></a><span class="lineno"><a class="line" href="structDataBus.html#a9a0d5709c566c7421d44f0e8beda62c2">  137</a></span>&#160;    Eigen::Vector3d <a class="code" href="structDataBus.html#a9a0d5709c566c7421d44f0e8beda62c2">stance_fe_pos_cur_W</a>; </div>
<div class="line"><a name="l00138"></a><span class="lineno"><a class="line" href="structDataBus.html#a0afb2e446d4c0caedd5c4e0f97695f34">  138</a></span>&#160;    Eigen::Matrix3d <a class="code" href="structDataBus.html#a0afb2e446d4c0caedd5c4e0f97695f34">stance_fe_rot_cur_W</a>; </div>
<div class="line"><a name="l00139"></a><span class="lineno"><a class="line" href="structDataBus.html#abbf1e7f7fea2191d05ce3252ae52e879">  139</a></span>&#160;    Eigen::VectorXd <a class="code" href="structDataBus.html#abbf1e7f7fea2191d05ce3252ae52e879">wbc_delta_q_final</a>,   </div>
<div class="line"><a name="l00140"></a><span class="lineno"><a class="line" href="structDataBus.html#ade7bf3a259767473423ff44a178b8dc1">  140</a></span>&#160;        <a class="code" href="structDataBus.html#ade7bf3a259767473423ff44a178b8dc1">wbc_dq_final</a>,                    </div>
<div class="line"><a name="l00141"></a><span class="lineno"><a class="line" href="structDataBus.html#ad65ef145124b588a62c1505a9acf3767">  141</a></span>&#160;        <a class="code" href="structDataBus.html#ad65ef145124b588a62c1505a9acf3767">wbc_ddq_final</a>;                   </div>
<div class="line"><a name="l00142"></a><span class="lineno"><a class="line" href="structDataBus.html#a65528a5d511f22b2ba35d544460d0926">  142</a></span>&#160;    Eigen::VectorXd <a class="code" href="structDataBus.html#a65528a5d511f22b2ba35d544460d0926">wbc_tauJointRes</a>;     </div>
<div class="line"><a name="l00143"></a><span class="lineno"><a class="line" href="structDataBus.html#af87720bdc128aaf11f6496200af1a1f9">  143</a></span>&#160;    Eigen::VectorXd <a class="code" href="structDataBus.html#af87720bdc128aaf11f6496200af1a1f9">wbc_FrRes</a>;           </div>
<div class="line"><a name="l00144"></a><span class="lineno"><a class="line" href="structDataBus.html#a79a32e4d61bd3d1d9026230669cf418f">  144</a></span>&#160;    Eigen::VectorXd <a class="code" href="structDataBus.html#a79a32e4d61bd3d1d9026230669cf418f">Fr_ff</a>;               </div>
<div class="line"><a name="l00145"></a><span class="lineno"><a class="line" href="structDataBus.html#a3d8447bc1e464140c5fa6b50a5df2ce0">  145</a></span>&#160;    <span class="keywordtype">int</span> <a class="code" href="structDataBus.html#a3d8447bc1e464140c5fa6b50a5df2ce0">qp_nWSR</a>;                         </div>
<div class="line"><a name="l00146"></a><span class="lineno"><a class="line" href="structDataBus.html#a0c65dc5887bec780cbb0b8b421e9b478">  146</a></span>&#160;    <span class="keywordtype">double</span> <a class="code" href="structDataBus.html#a0c65dc5887bec780cbb0b8b421e9b478">qp_cpuTime</a>;                   </div>
<div class="line"><a name="l00147"></a><span class="lineno"><a class="line" href="structDataBus.html#a34bcde8ab49fc624a23771e8972248ed">  147</a></span>&#160;    <span class="keywordtype">int</span> <a class="code" href="structDataBus.html#a34bcde8ab49fc624a23771e8972248ed">qp_status</a>;                       </div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160; </div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;    <span class="comment">// values for foot-placement</span></div>
<div class="line"><a name="l00150"></a><span class="lineno"><a class="line" href="structDataBus.html#a10764ddec95c7b01b4d00e75c19e4b48">  150</a></span>&#160;    Eigen::Vector3d <a class="code" href="structDataBus.html#a10764ddec95c7b01b4d00e75c19e4b48">swingStartPos_W</a>;    </div>
<div class="line"><a name="l00151"></a><span class="lineno"><a class="line" href="structDataBus.html#a3652b688142afa51a891a01bce471566">  151</a></span>&#160;    Eigen::Vector3d <a class="code" href="structDataBus.html#a3652b688142afa51a891a01bce471566">swingDesPosCur_L</a>;   </div>
<div class="line"><a name="l00152"></a><span class="lineno"><a class="line" href="structDataBus.html#a872d4c01ddcc325893e0593a82a53653">  152</a></span>&#160;    Eigen::Vector3d <a class="code" href="structDataBus.html#a872d4c01ddcc325893e0593a82a53653">stanceDesPos_W</a>;     </div>
<div class="line"><a name="l00153"></a><span class="lineno"><a class="line" href="structDataBus.html#a2dd269f857bfd6dd3928e524b0b41b05">  153</a></span>&#160;    Eigen::Vector3d <a class="code" href="structDataBus.html#a2dd269f857bfd6dd3928e524b0b41b05">posHip_W</a>;           </div>
<div class="line"><a name="l00154"></a><span class="lineno"><a class="line" href="structDataBus.html#a4c5b5784c198db0660db285b308a541f">  154</a></span>&#160;    Eigen::Vector3d <a class="code" href="structDataBus.html#a4c5b5784c198db0660db285b308a541f">desV_W</a>;             </div>
<div class="line"><a name="l00155"></a><span class="lineno"><a class="line" href="structDataBus.html#ac20879543c05bf3efff2d60a0e3b30b2">  155</a></span>&#160;    <span class="keywordtype">double</span> <a class="code" href="structDataBus.html#ac20879543c05bf3efff2d60a0e3b30b2">desWz_W</a>;                     </div>
<div class="line"><a name="l00156"></a><span class="lineno"><a class="line" href="structDataBus.html#ac2e4fb0dfd07ba322070e3bd6b204e33">  156</a></span>&#160;    <span class="keywordtype">double</span> <a class="code" href="structDataBus.html#ac2e4fb0dfd07ba322070e3bd6b204e33">theta0</a>;                      </div>
<div class="line"><a name="l00157"></a><span class="lineno"><a class="line" href="structDataBus.html#a97c72f31ccfbc780ca768b6df47d5b8b">  157</a></span>&#160;    <span class="keywordtype">double</span> <a class="code" href="structDataBus.html#a97c72f31ccfbc780ca768b6df47d5b8b">width_hips</a>;                  </div>
<div class="line"><a name="l00158"></a><span class="lineno"><a class="line" href="structDataBus.html#a0872af337cf744df13666d1ca70ddfab">  158</a></span>&#160;    <span class="keywordtype">double</span> <a class="code" href="structDataBus.html#a0872af337cf744df13666d1ca70ddfab">tSwing</a>;                      </div>
<div class="line"><a name="l00159"></a><span class="lineno"><a class="line" href="structDataBus.html#a356f98de11378aa6fbdf67c6076a6868">  159</a></span>&#160;    <span class="keywordtype">double</span> <a class="code" href="structDataBus.html#a356f98de11378aa6fbdf67c6076a6868">phi</a>;                         </div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160; </div>
<div class="line"><a name="l00164"></a><span class="lineno"><a class="line" href="structDataBus.html#a0dcb8a4552bb6b37259a61d601cd7d7e">  164</a></span>&#160;    <span class="keyword">enum</span> <a class="code" href="structDataBus.html#a0dcb8a4552bb6b37259a61d601cd7d7e">LegState</a></div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;    {</div>
<div class="line"><a name="l00166"></a><span class="lineno"><a class="line" href="structDataBus.html#a0dcb8a4552bb6b37259a61d601cd7d7ea08979273410aa36b9c631368513397ec">  166</a></span>&#160;        <a class="code" href="structDataBus.html#a0dcb8a4552bb6b37259a61d601cd7d7ea08979273410aa36b9c631368513397ec">LSt</a>, </div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;        RSt,</div>
<div class="line"><a name="l00168"></a><span class="lineno"><a class="line" href="structDataBus.html#a0dcb8a4552bb6b37259a61d601cd7d7ea4b29d84a010b44b9b4110be2183ab3a2">  168</a></span>&#160;        <a class="code" href="structDataBus.html#a0dcb8a4552bb6b37259a61d601cd7d7ea4b29d84a010b44b9b4110be2183ab3a2">DSt</a> </div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;    };</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160; </div>
<div class="line"><a name="l00171"></a><span class="lineno"><a class="line" href="structDataBus.html#a55ce7b18613eaea0e8983d697b816e9a">  171</a></span>&#160;    <span class="keywordtype">double</span> <a class="code" href="structDataBus.html#a55ce7b18613eaea0e8983d697b816e9a">thetaZ_des</a>{0}; </div>
<div class="line"><a name="l00172"></a><span class="lineno"><a class="line" href="structDataBus.html#af3616a7ffbfec988f239485c4b550a2f">  172</a></span>&#160;    <a class="code" href="structDataBus.html#a0dcb8a4552bb6b37259a61d601cd7d7e">LegState</a> <a class="code" href="structDataBus.html#af3616a7ffbfec988f239485c4b550a2f">legState</a>;    </div>
<div class="line"><a name="l00173"></a><span class="lineno"><a class="line" href="structDataBus.html#a4047b0d4ca169264a0388439313b63d9">  173</a></span>&#160;    <a class="code" href="structDataBus.html#a0dcb8a4552bb6b37259a61d601cd7d7e">LegState</a> <a class="code" href="structDataBus.html#a4047b0d4ca169264a0388439313b63d9">legStateNext</a>;</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160; </div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;    <span class="comment">// for jump</span></div>
<div class="line"><a name="l00176"></a><span class="lineno"><a class="line" href="structDataBus.html#ad72d44b623e1a141956ca249cb3dfe58">  176</a></span>&#160;    Eigen::Vector3d <a class="code" href="structDataBus.html#ad72d44b623e1a141956ca249cb3dfe58">base_pos_stand</a>; </div>
<div class="line"><a name="l00177"></a><span class="lineno"><a class="line" href="structDataBus.html#a9dc54fcc0ad8516e2a92bbc8a8689cfa">  177</a></span>&#160;    Eigen::Matrix&lt;double,6,1&gt; pfeW_stand, <a class="code" href="structDataBus.html#a9dc54fcc0ad8516e2a92bbc8a8689cfa">pfeW0</a>;    </div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;    <span class="comment">//Eigen::Vector3d mpc_eul_des, mpc_omega_des, mpc_vel_des, mpc_pos_des;</span></div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160; </div>
<div class="line"><a name="l00185"></a><span class="lineno"><a class="line" href="structDataBus.html#a2fe45f9893482708677ee68305685b72">  185</a></span>&#160;    <a class="code" href="structDataBus.html#a2fe45f9893482708677ee68305685b72">DataBus</a>(<span class="keywordtype">int</span> model_nvIn): <a class="code" href="structDataBus.html#ab9671a85da9b64c8be6c8d7d822c3db9">model_nv</a>(model_nvIn){</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;        <a class="code" href="structDataBus.html#a44f2d7d4c5921d086e842faf04d6b5e3">motors_pos_cur</a>.assign(<a class="code" href="structDataBus.html#ab9671a85da9b64c8be6c8d7d822c3db9">model_nv</a>-6,0);</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;        <a class="code" href="structDataBus.html#a6e174173373c09044fe77214ac22d61b">motors_vel_cur</a>.assign(<a class="code" href="structDataBus.html#ab9671a85da9b64c8be6c8d7d822c3db9">model_nv</a>-6,0);</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;        <a class="code" href="structDataBus.html#a146a3c93dea478ed4c2bc88d120a6204">motors_tor_out</a>.assign(<a class="code" href="structDataBus.html#ab9671a85da9b64c8be6c8d7d822c3db9">model_nv</a>-6,0);</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;        <a class="code" href="structDataBus.html#a1996047c3f808dda9f4cc3944d0d486a">motors_tor_cur</a>.assign(<a class="code" href="structDataBus.html#ab9671a85da9b64c8be6c8d7d822c3db9">model_nv</a>-6,0);</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;        <a class="code" href="structDataBus.html#a9c4fd58f3ce8b0d79f96431c45e3dc87">motors_tor_des</a>.assign(<a class="code" href="structDataBus.html#ab9671a85da9b64c8be6c8d7d822c3db9">model_nv</a>-6,0);</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;        <a class="code" href="structDataBus.html#a0510f771e207671abbddd60b94cc58fb">motors_vel_des</a>.assign(<a class="code" href="structDataBus.html#ab9671a85da9b64c8be6c8d7d822c3db9">model_nv</a>-6,0);</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;        <a class="code" href="structDataBus.html#a8426d381e3812f1223a8029f5f0ca5a3">motors_pos_des</a>.assign(<a class="code" href="structDataBus.html#ab9671a85da9b64c8be6c8d7d822c3db9">model_nv</a>-6,0);</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;        <a class="code" href="structDataBus.html#a1edc3a08678a00bdb4eb755a3157ec9b">q</a>=Eigen::VectorXd::Zero(<a class="code" href="structDataBus.html#ab9671a85da9b64c8be6c8d7d822c3db9">model_nv</a>+1);</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;        <a class="code" href="structDataBus.html#acca5e5ffdbc107b465d5c291617e34a6">qOld</a>=Eigen::VectorXd::Zero(<a class="code" href="structDataBus.html#ab9671a85da9b64c8be6c8d7d822c3db9">model_nv</a>+1);</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;        <a class="code" href="structDataBus.html#a1e20ca2abda0e8342aa07eaf4b7adaa4">dq</a>=Eigen::VectorXd::Zero(<a class="code" href="structDataBus.html#ab9671a85da9b64c8be6c8d7d822c3db9">model_nv</a>);</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;        <a class="code" href="structDataBus.html#a0564a337e371809806d164ce3946de28">ddq</a>=Eigen::VectorXd::Zero(<a class="code" href="structDataBus.html#ab9671a85da9b64c8be6c8d7d822c3db9">model_nv</a>);</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;        <a class="code" href="structDataBus.html#a985be244042640dea42db4147c4e625b">qCmd</a>=Eigen::VectorXd::Zero(<a class="code" href="structDataBus.html#ab9671a85da9b64c8be6c8d7d822c3db9">model_nv</a>+1);</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;        <a class="code" href="structDataBus.html#a6a5d9134fc0bae50e92f0dbf4c827544">dqCmd</a>=Eigen::VectorXd::Zero(<a class="code" href="structDataBus.html#ab9671a85da9b64c8be6c8d7d822c3db9">model_nv</a>);</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;        <a class="code" href="structDataBus.html#a6c1e3ed7c41b379a2f60ba5ee67f2ed9">tauJointCmd</a>=Eigen::VectorXd::Zero(<a class="code" href="structDataBus.html#ab9671a85da9b64c8be6c8d7d822c3db9">model_nv</a>-6);</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;        <a class="code" href="structDataBus.html#ab45a37863d3650eb9fde838c427eea72">FL_est</a>=Eigen::VectorXd::Zero(6);</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;        <a class="code" href="structDataBus.html#a15ddd144e2234a2bb6e33b8c2da92b8e">FR_est</a>=Eigen::VectorXd::Zero(6);</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;        <a class="code" href="structDataBus.html#af419057fb271481e6a87001d5610eb8e">Xd</a> = Eigen::VectorXd::Zero(12*10);</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;        <a class="code" href="structDataBus.html#af0d2fc25fbd40d7ac179b5779f2c40ff">X_cur</a> = Eigen::VectorXd::Zero(12);</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;        <a class="code" href="structDataBus.html#a0e9b3fcc75265308f10ba5862815087a">X_cal</a> = Eigen::VectorXd::Zero(12);</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;        <a class="code" href="structDataBus.html#acd18e8fba3e72021ab80a98aa369c8f4">dX_cal</a> = Eigen::VectorXd::Zero(12);</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;        <a class="code" href="structDataBus.html#afd875c0de2f7f46587f3ebe4ae73d2fa">fe_react_tau_cmd</a> = Eigen::VectorXd::Zero(13*3);</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;        <a class="code" href="structDataBus.html#a79a32e4d61bd3d1d9026230669cf418f">Fr_ff</a> = Eigen::VectorXd::Zero(12);</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;        <a class="code" href="structDataBus.html#a131e7ab67172ee9934441b5c00187363">des_ddq</a> = Eigen::VectorXd::Zero(<a class="code" href="structDataBus.html#ab9671a85da9b64c8be6c8d7d822c3db9">model_nv</a>);</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;        <a class="code" href="structDataBus.html#a4c495f9b2d97807c38e726dbada293a7">des_dq</a> = Eigen::VectorXd::Zero(<a class="code" href="structDataBus.html#ab9671a85da9b64c8be6c8d7d822c3db9">model_nv</a>);</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;        <a class="code" href="structDataBus.html#a09bff47a59cfc71aff09f62df7f4f95e">des_delta_q</a> = Eigen::VectorXd::Zero(<a class="code" href="structDataBus.html#ab9671a85da9b64c8be6c8d7d822c3db9">model_nv</a>);</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;        <a class="code" href="structDataBus.html#af03f33eb3cb6bcf43ff21cee18b2a2e6">base_rpy_des</a>.setZero();</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;        <a class="code" href="structDataBus.html#ac4981d5de060aa4bb117f39c2563c6ba">base_pos_des</a>.setZero();</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;        <a class="code" href="structDataBus.html#a92a868be7ed2d886f266e844399762dd">js_eul_des</a>.setZero();</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;        <a class="code" href="structDataBus.html#a298ff350cb0f7dc9679fb90909aa4650">js_pos_des</a>.setZero();</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;        <a class="code" href="structDataBus.html#a176bf04fd501acfa68ee3083532df705">js_omega_des</a>.setZero();</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;        <a class="code" href="structDataBus.html#a05de3821b1aa986adc8a98ec8469d55a">js_vel_des</a>.setZero();</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;    };</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160; </div>
<div class="line"><a name="l00224"></a><span class="lineno"><a class="line" href="structDataBus.html#a1673b53d2c783faaf80cb549c2065d78">  224</a></span>&#160;    <span class="keywordtype">void</span> <a class="code" href="structDataBus.html#a1673b53d2c783faaf80cb549c2065d78">updateQ</a>(){</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;        <a class="code" href="structDataBus.html#aafbebba614c6bc9e1cebd6a432a44ad2">base_omega_W</a> &lt;&lt; <a class="code" href="structDataBus.html#acc95bd4d4d7820893823fc0ad5ac3526">baseAngVel</a>[0],<a class="code" href="structDataBus.html#acc95bd4d4d7820893823fc0ad5ac3526">baseAngVel</a>[1],<a class="code" href="structDataBus.html#acc95bd4d4d7820893823fc0ad5ac3526">baseAngVel</a>[2];</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;        <span class="keyword">auto</span> Rcur= <a class="code" href="structDataBus.html#af2ffb1739963462a7dfc20fc1e4a6192">eul2Rot</a>(<a class="code" href="structDataBus.html#a9b45a5287b92f51cc27899eee18f9ff2">rpy</a>[0], <a class="code" href="structDataBus.html#a9b45a5287b92f51cc27899eee18f9ff2">rpy</a>[1], <a class="code" href="structDataBus.html#a9b45a5287b92f51cc27899eee18f9ff2">rpy</a>[2]);</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;        <a class="code" href="structDataBus.html#aafbebba614c6bc9e1cebd6a432a44ad2">base_omega_W</a>=Rcur*<a class="code" href="structDataBus.html#aafbebba614c6bc9e1cebd6a432a44ad2">base_omega_W</a>;</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160; </div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;        <span class="keyword">auto</span> quatNow=<a class="code" href="structDataBus.html#ad2308a852d46c6b1471c2253bd129620">eul2quat</a>(<a class="code" href="structDataBus.html#a9b45a5287b92f51cc27899eee18f9ff2">rpy</a>[0], <a class="code" href="structDataBus.html#a9b45a5287b92f51cc27899eee18f9ff2">rpy</a>[1], <a class="code" href="structDataBus.html#a9b45a5287b92f51cc27899eee18f9ff2">rpy</a>[2]);</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;        <a class="code" href="structDataBus.html#a1edc3a08678a00bdb4eb755a3157ec9b">q</a>(0)=<a class="code" href="structDataBus.html#a66bfad87a864abd89bd6a0308e65ebc4">basePos</a>[0];</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;        <a class="code" href="structDataBus.html#a1edc3a08678a00bdb4eb755a3157ec9b">q</a>(1)=<a class="code" href="structDataBus.html#a66bfad87a864abd89bd6a0308e65ebc4">basePos</a>[1];</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;        <a class="code" href="structDataBus.html#a1edc3a08678a00bdb4eb755a3157ec9b">q</a>(2)=<a class="code" href="structDataBus.html#a66bfad87a864abd89bd6a0308e65ebc4">basePos</a>[2];</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;        <a class="code" href="structDataBus.html#a1edc3a08678a00bdb4eb755a3157ec9b">q</a>(3)=quatNow.x();</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;        <a class="code" href="structDataBus.html#a1edc3a08678a00bdb4eb755a3157ec9b">q</a>(4)=quatNow.y();</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;        <a class="code" href="structDataBus.html#a1edc3a08678a00bdb4eb755a3157ec9b">q</a>(5)=quatNow.z();</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;        <a class="code" href="structDataBus.html#a1edc3a08678a00bdb4eb755a3157ec9b">q</a>(6)=quatNow.w();</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i=0;i&lt;<a class="code" href="structDataBus.html#ab9671a85da9b64c8be6c8d7d822c3db9">model_nv</a>-6;i++)</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;            <a class="code" href="structDataBus.html#a1edc3a08678a00bdb4eb755a3157ec9b">q</a>(i+7)=<a class="code" href="structDataBus.html#a44f2d7d4c5921d086e842faf04d6b5e3">motors_pos_cur</a>[i];</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;        <span class="comment">//  For Pinocchio: The base translation part is expressed in the parent frame (here the world coordinate system)</span></div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;        <span class="comment">//  while its velocity is expressed in the body coordinate system.</span></div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;        <span class="comment">//  https://github.com/stack-of-tasks/pinocchio/issues/1137</span></div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;        <span class="comment">//  q = [global_base_position, global_base_quaternion, joint_positions]</span></div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;        <span class="comment">//  v = [local_base_velocity_linear, local_base_velocity_angular, joint_velocities]</span></div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;        Eigen::Vector3d vCoM_L;</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;        vCoM_L &lt;&lt; <a class="code" href="structDataBus.html#a5b79678006c606fc8e70a082f4fb1fe4">baseLinVel</a>[0],<a class="code" href="structDataBus.html#a5b79678006c606fc8e70a082f4fb1fe4">baseLinVel</a>[1],<a class="code" href="structDataBus.html#a5b79678006c606fc8e70a082f4fb1fe4">baseLinVel</a>[2];</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;        <a class="code" href="structDataBus.html#a1e20ca2abda0e8342aa07eaf4b7adaa4">dq</a>.block&lt;3,1&gt;(0,0)= vCoM_L;</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;        <a class="code" href="structDataBus.html#a1e20ca2abda0e8342aa07eaf4b7adaa4">dq</a>.block&lt;3,1&gt;(3,0) &lt;&lt; <a class="code" href="structDataBus.html#acc95bd4d4d7820893823fc0ad5ac3526">baseAngVel</a>[0],<a class="code" href="structDataBus.html#acc95bd4d4d7820893823fc0ad5ac3526">baseAngVel</a>[1],<a class="code" href="structDataBus.html#acc95bd4d4d7820893823fc0ad5ac3526">baseAngVel</a>[2];</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i=0;i&lt;<a class="code" href="structDataBus.html#ab9671a85da9b64c8be6c8d7d822c3db9">model_nv</a>-6;i++)</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;        {</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;            <a class="code" href="structDataBus.html#a1e20ca2abda0e8342aa07eaf4b7adaa4">dq</a>(i+6)=<a class="code" href="structDataBus.html#a6e174173373c09044fe77214ac22d61b">motors_vel_cur</a>[i];</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;        }</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160; </div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;        <a class="code" href="structDataBus.html#a7bb7e1397ba963e17e1f840cc7abd610">base_pos</a>&lt;&lt;<a class="code" href="structDataBus.html#a1edc3a08678a00bdb4eb755a3157ec9b">q</a>(0),<a class="code" href="structDataBus.html#a1edc3a08678a00bdb4eb755a3157ec9b">q</a>(1),<a class="code" href="structDataBus.html#a1edc3a08678a00bdb4eb755a3157ec9b">q</a>(2);</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;        <a class="code" href="structDataBus.html#a707d4278aa346e8677a87c95f6edb7bb">base_rpy</a> &lt;&lt; <a class="code" href="structDataBus.html#a9b45a5287b92f51cc27899eee18f9ff2">rpy</a>[0], <a class="code" href="structDataBus.html#a9b45a5287b92f51cc27899eee18f9ff2">rpy</a>[1], <a class="code" href="structDataBus.html#a9b45a5287b92f51cc27899eee18f9ff2">rpy</a>[2];</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;        <a class="code" href="structDataBus.html#a0113f7940144a8e35089fd9818e8d70b">base_rot</a>=Rcur;</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;        <a class="code" href="structDataBus.html#acca5e5ffdbc107b465d5c291617e34a6">qOld</a>=<a class="code" href="structDataBus.html#a1edc3a08678a00bdb4eb755a3157ec9b">q</a>;</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;    }</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160; </div>
<div class="line"><a name="l00264"></a><span class="lineno"><a class="line" href="structDataBus.html#addcaefa0eeba96ed370e8b24e4ebd940">  264</a></span>&#160;    <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="structDataBus.html#addcaefa0eeba96ed370e8b24e4ebd940">printdq</a>(<span class="keyword">const</span> Eigen::VectorXd &amp;<a class="code" href="structDataBus.html#a1edc3a08678a00bdb4eb755a3157ec9b">q</a>){</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;        std::cout&lt;&lt;std::setprecision(5)&lt;&lt;<a class="code" href="structDataBus.html#a1edc3a08678a00bdb4eb755a3157ec9b">q</a>.block&lt;6,1&gt;(0,0).transpose()&lt;&lt;std::endl;</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;        std::cout&lt;&lt;std::setprecision(5)&lt;&lt;<a class="code" href="structDataBus.html#a1edc3a08678a00bdb4eb755a3157ec9b">q</a>.block&lt;7,1&gt;(6,0).transpose()&lt;&lt;std::endl;</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;        std::cout&lt;&lt;std::setprecision(5)&lt;&lt;<a class="code" href="structDataBus.html#a1edc3a08678a00bdb4eb755a3157ec9b">q</a>.block&lt;7,1&gt;(13,0).transpose()&lt;&lt;std::endl;</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;        std::cout&lt;&lt;std::setprecision(5)&lt;&lt;<a class="code" href="structDataBus.html#a1edc3a08678a00bdb4eb755a3157ec9b">q</a>.block&lt;4,1&gt;(20,0).transpose()&lt;&lt;std::endl;</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;        std::cout&lt;&lt;std::setprecision(5)&lt;&lt;<a class="code" href="structDataBus.html#a1edc3a08678a00bdb4eb755a3157ec9b">q</a>.block&lt;6,1&gt;(24,0).transpose()&lt;&lt;std::endl;</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;        std::cout&lt;&lt;std::setprecision(5)&lt;&lt;<a class="code" href="structDataBus.html#a1edc3a08678a00bdb4eb755a3157ec9b">q</a>.block&lt;6,1&gt;(30,0).transpose()&lt;&lt;std::endl;</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;    }</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160; </div>
<div class="line"><a name="l00278"></a><span class="lineno"><a class="line" href="structDataBus.html#a8879e68efdd97fdada83e7b28b3c4bca">  278</a></span>&#160;    <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="structDataBus.html#a8879e68efdd97fdada83e7b28b3c4bca">printq</a>(<span class="keyword">const</span> Eigen::VectorXd &amp;<a class="code" href="structDataBus.html#a1edc3a08678a00bdb4eb755a3157ec9b">q</a>){</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;        std::cout&lt;&lt;std::setprecision(5)&lt;&lt;<a class="code" href="structDataBus.html#a1edc3a08678a00bdb4eb755a3157ec9b">q</a>.block&lt;7,1&gt;(0,0).transpose()&lt;&lt;std::endl;</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;        std::cout&lt;&lt;std::setprecision(5)&lt;&lt;<a class="code" href="structDataBus.html#a1edc3a08678a00bdb4eb755a3157ec9b">q</a>.block&lt;7,1&gt;(7,0).transpose()&lt;&lt;std::endl;</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;        std::cout&lt;&lt;std::setprecision(5)&lt;&lt;<a class="code" href="structDataBus.html#a1edc3a08678a00bdb4eb755a3157ec9b">q</a>.block&lt;7,1&gt;(14,0).transpose()&lt;&lt;std::endl;</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;        std::cout&lt;&lt;std::setprecision(5)&lt;&lt;<a class="code" href="structDataBus.html#a1edc3a08678a00bdb4eb755a3157ec9b">q</a>.block&lt;4,1&gt;(21,0).transpose()&lt;&lt;std::endl;</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;        std::cout&lt;&lt;std::setprecision(5)&lt;&lt;<a class="code" href="structDataBus.html#a1edc3a08678a00bdb4eb755a3157ec9b">q</a>.block&lt;6,1&gt;(25,0).transpose()&lt;&lt;std::endl;</div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;        std::cout&lt;&lt;std::setprecision(5)&lt;&lt;<a class="code" href="structDataBus.html#a1edc3a08678a00bdb4eb755a3157ec9b">q</a>.block&lt;6,1&gt;(31,0).transpose()&lt;&lt;std::endl;</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;    }</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160; </div>
<div class="line"><a name="l00295"></a><span class="lineno"><a class="line" href="structDataBus.html#af2ffb1739963462a7dfc20fc1e4a6192">  295</a></span>&#160;    Eigen::Matrix&lt;double, 3, 3&gt; <a class="code" href="structDataBus.html#af2ffb1739963462a7dfc20fc1e4a6192">eul2Rot</a>(<span class="keywordtype">double</span> roll, <span class="keywordtype">double</span> pitch, <span class="keywordtype">double</span> yaw) {</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;        Eigen::Matrix&lt;double,3,3&gt; Rx,Ry,Rz;</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;        Rz&lt;&lt;cos(yaw),-sin(yaw),0,</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;                sin(yaw),cos(yaw),0,</div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;                0,0,1;</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;        Ry&lt;&lt;cos(pitch),0,sin(pitch),</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;                0,1,0,</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;                -sin(pitch),0,cos(pitch);</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;        Rx&lt;&lt;1,0,0,</div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;                0,cos(roll),-sin(roll),</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;                0,sin(roll),cos(roll);</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;        <span class="keywordflow">return</span> Rz*Ry*Rx;</div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;    }</div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160; </div>
<div class="line"><a name="l00317"></a><span class="lineno"><a class="line" href="structDataBus.html#ad2308a852d46c6b1471c2253bd129620">  317</a></span>&#160;    Eigen::Quaterniond <a class="code" href="structDataBus.html#ad2308a852d46c6b1471c2253bd129620">eul2quat</a>(<span class="keywordtype">double</span> roll, <span class="keywordtype">double</span> pitch, <span class="keywordtype">double</span> yaw) {</div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;        Eigen::Matrix3d R= <a class="code" href="structDataBus.html#af2ffb1739963462a7dfc20fc1e4a6192">eul2Rot</a>(roll,pitch,yaw);</div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;        Eigen::Quaternion&lt;double&gt; quatCur;</div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;        quatCur = R; <span class="comment">//rotation matrix converted to quaternion</span></div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;        Eigen::Quaterniond resQuat;</div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;        resQuat=quatCur;</div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;        <span class="keywordflow">return</span> resQuat;</div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;    }</div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;};</div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160; </div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160; </div>
</div><!-- fragment --></div><!-- contents -->
<div class="ttc" id="astructDataBus_html_a5803b796bfc91a296508483241e3b2b0"><div class="ttname"><a href="structDataBus.html#a5803b796bfc91a296508483241e3b2b0">DataBus::fe_l_pos_L_cmd</a></div><div class="ttdeci">Eigen::Vector3d fe_l_pos_L_cmd</div><div class="ttdoc">desired command of left foot position in body frame</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00079">data_bus.h:79</a></div></div>
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<div class="ttc" id="astructDataBus_html_a10764ddec95c7b01b4d00e75c19e4b48"><div class="ttname"><a href="structDataBus.html#a10764ddec95c7b01b4d00e75c19e4b48">DataBus::swingStartPos_W</a></div><div class="ttdeci">Eigen::Vector3d swingStartPos_W</div><div class="ttdoc">swing foot end start position in world frame</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00150">data_bus.h:150</a></div></div>
<div class="ttc" id="astructDataBus_html_a2ebe414c042f067bc8819b43c9436832"><div class="ttname"><a href="structDataBus.html#a2ebe414c042f067bc8819b43c9436832">DataBus::hd_r_rot_W</a></div><div class="ttdeci">Eigen::Matrix3d hd_r_rot_W</div><div class="ttdoc">right hand rotation matrix in world frame</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00085">data_bus.h:85</a></div></div>
<div class="ttc" id="astructDataBus_html_a0872af337cf744df13666d1ca70ddfab"><div class="ttname"><a href="structDataBus.html#a0872af337cf744df13666d1ca70ddfab">DataBus::tSwing</a></div><div class="ttdeci">double tSwing</div><div class="ttdoc">swing period</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00158">data_bus.h:158</a></div></div>
<div class="ttc" id="astructDataBus_html_a9dc54fcc0ad8516e2a92bbc8a8689cfa"><div class="ttname"><a href="structDataBus.html#a9dc54fcc0ad8516e2a92bbc8a8689cfa">DataBus::pfeW0</a></div><div class="ttdeci">Eigen::Matrix&lt; double, 6, 1 &gt; pfeW0</div><div class="ttdoc">TODO.</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00177">data_bus.h:177</a></div></div>
<div class="ttc" id="astructDataBus_html_a6e174173373c09044fe77214ac22d61b"><div class="ttname"><a href="structDataBus.html#a6e174173373c09044fe77214ac22d61b">DataBus::motors_vel_cur</a></div><div class="ttdeci">std::vector&lt; double &gt; motors_vel_cur</div><div class="ttdoc">all current motors velocity</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00038">data_bus.h:38</a></div></div>
<div class="ttc" id="astructDataBus_html_ad2308a852d46c6b1471c2253bd129620"><div class="ttname"><a href="structDataBus.html#ad2308a852d46c6b1471c2253bd129620">DataBus::eul2quat</a></div><div class="ttdeci">Eigen::Quaterniond eul2quat(double roll, double pitch, double yaw)</div><div class="ttdoc">compute quaternoin from euler angle</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00317">data_bus.h:317</a></div></div>
<div class="ttc" id="astructDataBus_html_a7bb7e1397ba963e17e1f840cc7abd610"><div class="ttname"><a href="structDataBus.html#a7bb7e1397ba963e17e1f840cc7abd610">DataBus::base_pos</a></div><div class="ttdeci">Eigen::Vector3d base_pos</div><div class="ttdoc">base position in world frame</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00066">data_bus.h:66</a></div></div>
<div class="ttc" id="astructDataBus_html_aafbebba614c6bc9e1cebd6a432a44ad2"><div class="ttname"><a href="structDataBus.html#aafbebba614c6bc9e1cebd6a432a44ad2">DataBus::base_omega_W</a></div><div class="ttdeci">Eigen::Vector3d base_omega_W</div><div class="ttdoc">body angle velocity expressed in world frame</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00102">data_bus.h:102</a></div></div>
<div class="ttc" id="astructDataBus_html_a356f98de11378aa6fbdf67c6076a6868"><div class="ttname"><a href="structDataBus.html#a356f98de11378aa6fbdf67c6076a6868">DataBus::phi</a></div><div class="ttdeci">double phi</div><div class="ttdoc">phase varialbe for trajectory generation, must between 0 and 1, used in footPlacement,...</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00159">data_bus.h:159</a></div></div>
<div class="ttc" id="astructDataBus_html_a2dd269f857bfd6dd3928e524b0b41b05"><div class="ttname"><a href="structDataBus.html#a2dd269f857bfd6dd3928e524b0b41b05">DataBus::posHip_W</a></div><div class="ttdeci">Eigen::Vector3d posHip_W</div><div class="ttdoc">hip position in world frame</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00153">data_bus.h:153</a></div></div>
<div class="ttc" id="astructDataBus_html_aede1ab3d0316d9f1d1f5275c35282f33"><div class="ttname"><a href="structDataBus.html#aede1ab3d0316d9f1d1f5275c35282f33">DataBus::slop</a></div><div class="ttdeci">Eigen::Vector3d slop</div><div class="ttdoc">the foot slope, expressed in euler angle</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00105">data_bus.h:105</a></div></div>
<div class="ttc" id="astructDataBus_html_a1edc3a08678a00bdb4eb755a3157ec9b"><div class="ttname"><a href="structDataBus.html#a1edc3a08678a00bdb4eb755a3157ec9b">DataBus::q</a></div><div class="ttdeci">Eigen::VectorXd q</div><div class="ttdoc">position variable of the robot</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00050">data_bus.h:50</a></div></div>
<div class="ttc" id="astructDataBus_html_a4c495f9b2d97807c38e726dbada293a7"><div class="ttname"><a href="structDataBus.html#a4c495f9b2d97807c38e726dbada293a7">DataBus::des_dq</a></div><div class="ttdeci">Eigen::VectorXd des_dq</div><div class="ttdoc">desired generalized velocity</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00132">data_bus.h:132</a></div></div>
<div class="ttc" id="astructDataBus_html_af03f33eb3cb6bcf43ff21cee18b2a2e6"><div class="ttname"><a href="structDataBus.html#af03f33eb3cb6bcf43ff21cee18b2a2e6">DataBus::base_rpy_des</a></div><div class="ttdeci">Eigen::Vector3d base_rpy_des</div><div class="ttdoc">desired body euler angle in world frame</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00129">data_bus.h:129</a></div></div>
<div class="ttc" id="astructDataBus_html_a707d4278aa346e8677a87c95f6edb7bb"><div class="ttname"><a href="structDataBus.html#a707d4278aa346e8677a87c95f6edb7bb">DataBus::base_rpy</a></div><div class="ttdeci">Eigen::Vector3d base_rpy</div><div class="ttdoc">rpy angle expressed in Eigen type in world frame</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00103">data_bus.h:103</a></div></div>
<div class="ttc" id="astructDataBus_html_a176bf04fd501acfa68ee3083532df705"><div class="ttname"><a href="structDataBus.html#a176bf04fd501acfa68ee3083532df705">DataBus::js_omega_des</a></div><div class="ttdeci">Eigen::Vector3d js_omega_des</div><div class="ttdoc">angle velocity command from joystick controller in body frame, for now, only omega along z-axis is co...</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00111">data_bus.h:111</a></div></div>
<div class="ttc" id="astructDataBus_html_a8879e68efdd97fdada83e7b28b3c4bca"><div class="ttname"><a href="structDataBus.html#a8879e68efdd97fdada83e7b28b3c4bca">DataBus::printq</a></div><div class="ttdeci">static void printq(const Eigen::VectorXd &amp;q)</div><div class="ttdoc">print the information of q to the terminal</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00278">data_bus.h:278</a></div></div>
<div class="ttc" id="astructDataBus_html_a146a3c93dea478ed4c2bc88d120a6204"><div class="ttname"><a href="structDataBus.html#a146a3c93dea478ed4c2bc88d120a6204">DataBus::motors_tor_out</a></div><div class="ttdeci">std::vector&lt; double &gt; motors_tor_out</div><div class="ttdoc">all final output motors torque</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00047">data_bus.h:47</a></div></div>
<div class="ttc" id="astructDataBus_html_a3d8447bc1e464140c5fa6b50a5df2ce0"><div class="ttname"><a href="structDataBus.html#a3d8447bc1e464140c5fa6b50a5df2ce0">DataBus::qp_nWSR</a></div><div class="ttdeci">int qp_nWSR</div><div class="ttdoc">QP solver parameter.</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00145">data_bus.h:145</a></div></div>
<div class="ttc" id="astructDataBus_html_a15ddd144e2234a2bb6e33b8c2da92b8e"><div class="ttname"><a href="structDataBus.html#a15ddd144e2234a2bb6e33b8c2da92b8e">DataBus::FR_est</a></div><div class="ttdeci">Eigen::VectorXd FR_est</div><div class="ttdoc">estimation of the ground reaction force of right leg</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00041">data_bus.h:41</a></div></div>
<div class="ttc" id="astructDataBus_html_a0c65dc5887bec780cbb0b8b421e9b478"><div class="ttname"><a href="structDataBus.html#a0c65dc5887bec780cbb0b8b421e9b478">DataBus::qp_cpuTime</a></div><div class="ttdeci">double qp_cpuTime</div><div class="ttdoc">QP solving time limit.</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00146">data_bus.h:146</a></div></div>
<div class="ttc" id="astructDataBus_html_acd18e8fba3e72021ab80a98aa369c8f4"><div class="ttname"><a href="structDataBus.html#acd18e8fba3e72021ab80a98aa369c8f4">DataBus::dX_cal</a></div><div class="ttdeci">Eigen::VectorXd dX_cal</div><div class="ttdoc">predict dX ( ) calculated using X_cal</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00121">data_bus.h:121</a></div></div>
<div class="ttc" id="astructDataBus_html_a0197a7fdd8fd08faa9981b7e9f758a2d"><div class="ttname"><a href="structDataBus.html#a0197a7fdd8fd08faa9981b7e9f758a2d">DataBus::baseAcc</a></div><div class="ttdeci">double baseAcc[3]</div><div class="ttdoc">linear acceleration of the base link</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00035">data_bus.h:35</a></div></div>
<div class="ttc" id="astructDataBus_html_af0d2fc25fbd40d7ac179b5779f2c40ff"><div class="ttname"><a href="structDataBus.html#af0d2fc25fbd40d7ac179b5779f2c40ff">DataBus::X_cur</a></div><div class="ttdeci">Eigen::VectorXd X_cur</div><div class="ttdoc">current X state variable in MPC module</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00115">data_bus.h:115</a></div></div>
<div class="ttc" id="astructDataBus_html_a0510f771e207671abbddd60b94cc58fb"><div class="ttname"><a href="structDataBus.html#a0510f771e207671abbddd60b94cc58fb">DataBus::motors_vel_des</a></div><div class="ttdeci">std::vector&lt; double &gt; motors_vel_des</div><div class="ttdoc">all desired motors velocity</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00045">data_bus.h:45</a></div></div>
<div class="ttc" id="astructDataBus_html_a252ca3e33ac63c8f45edfff68100189e"><div class="ttname"><a href="structDataBus.html#a252ca3e33ac63c8f45edfff68100189e">DataBus::qpStatus_MPC</a></div><div class="ttdeci">double qpStatus_MPC</div><div class="ttdoc">QP solver parameter - solving outcomes (successful or not)</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00126">data_bus.h:126</a></div></div>
<div class="ttc" id="astructDataBus_html_a0113f7940144a8e35089fd9818e8d70b"><div class="ttname"><a href="structDataBus.html#a0113f7940144a8e35089fd9818e8d70b">DataBus::base_rot</a></div><div class="ttdeci">Eigen::Matrix3d base_rot</div><div class="ttdoc">base rotation matrix in world frame</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00069">data_bus.h:69</a></div></div>
<div class="ttc" id="astructDataBus_html_aa460fea6d01355839c3508373c607170"><div class="ttname"><a href="structDataBus.html#aa460fea6d01355839c3508373c607170">DataBus::hd_l_pos_L</a></div><div class="ttdeci">Eigen::Vector3d hd_l_pos_L</div><div class="ttdoc">right hand position in body frame</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00088">data_bus.h:88</a></div></div>
<div class="ttc" id="astructDataBus_html_a72d6adca7adb79b4ed026eb6a75b7dce"><div class="ttname"><a href="structDataBus.html#a72d6adca7adb79b4ed026eb6a75b7dce">DataBus::J_base</a></div><div class="ttdeci">Eigen::MatrixXd J_base</div><div class="ttdoc">jacobian matrix of the baselink</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00054">data_bus.h:54</a></div></div>
<div class="ttc" id="astructDataBus_html_a30ea99f034a267da0c909900a972f132"><div class="ttname"><a href="structDataBus.html#a30ea99f034a267da0c909900a972f132">DataBus::hd_r_rot_L</a></div><div class="ttdeci">Eigen::Matrix3d hd_r_rot_L</div><div class="ttdoc">left hand rotation matrix in body frame</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00089">data_bus.h:89</a></div></div>
<div class="ttc" id="astructDataBus_html_a131e7ab67172ee9934441b5c00187363"><div class="ttname"><a href="structDataBus.html#a131e7ab67172ee9934441b5c00187363">DataBus::des_ddq</a></div><div class="ttdeci">Eigen::VectorXd des_ddq</div><div class="ttdoc">desired generalized acceleration</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00131">data_bus.h:131</a></div></div>
<div class="ttc" id="astructDataBus_html_a202f9dff68b4a72cca3ee73d6e80553e"><div class="ttname"><a href="structDataBus.html#a202f9dff68b4a72cca3ee73d6e80553e">DataBus::hip_l_pos_L</a></div><div class="ttdeci">Eigen::Vector3d hip_l_pos_L</div><div class="ttdoc">left hip position in body frame</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00073">data_bus.h:73</a></div></div>
<div class="ttc" id="astructDataBus_html_ad65ef145124b588a62c1505a9acf3767"><div class="ttname"><a href="structDataBus.html#ad65ef145124b588a62c1505a9acf3767">DataBus::wbc_ddq_final</a></div><div class="ttdeci">Eigen::VectorXd wbc_ddq_final</div><div class="ttdoc">final generalized acceleration after wbc computing</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00141">data_bus.h:141</a></div></div>
<div class="ttc" id="astructDataBus_html_ab99c2d927ac41782cefe44509bf20322"><div class="ttname"><a href="structDataBus.html#ab99c2d927ac41782cefe44509bf20322">DataBus::dJ_hd_r</a></div><div class="ttdeci">Eigen::MatrixXd dJ_hd_r</div><div class="ttdoc">jacobian time variation matrix of right hand</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00063">data_bus.h:63</a></div></div>
<div class="ttc" id="astructDataBus_html_a1996047c3f808dda9f4cc3944d0d486a"><div class="ttname"><a href="structDataBus.html#a1996047c3f808dda9f4cc3944d0d486a">DataBus::motors_tor_cur</a></div><div class="ttdeci">std::vector&lt; double &gt; motors_tor_cur</div><div class="ttdoc">all current motors torque</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00039">data_bus.h:39</a></div></div>
<div class="ttc" id="astructDataBus_html_a5e70930038178da11905e640cfb957d3"><div class="ttname"><a href="structDataBus.html#a5e70930038178da11905e640cfb957d3">DataBus::inertia</a></div><div class="ttdeci">Eigen::Matrix&lt; double, 3, 3 &gt; inertia</div><div class="ttdoc">whole body inertia matrix w.r.t center of mass of robot, computed from pinocchio and used in MPC modu...</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00106">data_bus.h:106</a></div></div>
<div class="ttc" id="astructDataBus_html_ad72d44b623e1a141956ca249cb3dfe58"><div class="ttname"><a href="structDataBus.html#ad72d44b623e1a141956ca249cb3dfe58">DataBus::base_pos_stand</a></div><div class="ttdeci">Eigen::Vector3d base_pos_stand</div><div class="ttdoc">baselink position when standing</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00176">data_bus.h:176</a></div></div>
<div class="ttc" id="astructDataBus_html_a3652b688142afa51a891a01bce471566"><div class="ttname"><a href="structDataBus.html#a3652b688142afa51a891a01bce471566">DataBus::swingDesPosCur_L</a></div><div class="ttdeci">Eigen::Vector3d swingDesPosCur_L</div><div class="ttdoc">current desired swing foot end position in body frame</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00151">data_bus.h:151</a></div></div>
<div class="ttc" id="astructDataBus_html_a65528a5d511f22b2ba35d544460d0926"><div class="ttname"><a href="structDataBus.html#a65528a5d511f22b2ba35d544460d0926">DataBus::wbc_tauJointRes</a></div><div class="ttdeci">Eigen::VectorXd wbc_tauJointRes</div><div class="ttdoc">desired torque of joint after wbc computing</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00142">data_bus.h:142</a></div></div>
<div class="ttc" id="astructDataBus_html_ae91319ee83a8cf354911f14955449283"><div class="ttname"><a href="structDataBus.html#ae91319ee83a8cf354911f14955449283">DataBus::fe_L_rot_L_off</a></div><div class="ttdeci">const Eigen::Matrix3d fe_L_rot_L_off</div><div class="ttdoc">left foot-end Rotation matrix w.r.t the local(body) frame in offset posture</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00026">data_bus.h:26</a></div></div>
<div class="ttc" id="astructDataBus_html_a97432e506d995437e3cb622002cac9d4"><div class="ttname"><a href="structDataBus.html#a97432e506d995437e3cb622002cac9d4">DataBus::fe_l_rot_W</a></div><div class="ttdeci">Eigen::Matrix3d fe_l_rot_W</div><div class="ttdoc">left foot rotation matrix in world frame</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00068">data_bus.h:68</a></div></div>
<div class="ttc" id="astructDataBus_html_a2bb16ba735000cbab0dfa8de182a11ab"><div class="ttname"><a href="structDataBus.html#a2bb16ba735000cbab0dfa8de182a11ab">DataBus::fe_l_rot_L_cmd</a></div><div class="ttdeci">Eigen::Matrix3d fe_l_rot_L_cmd</div><div class="ttdoc">desired command of left foot rotation matrix in body frame</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00081">data_bus.h:81</a></div></div>
<div class="ttc" id="astructDataBus_html_a8e2b1bd1613049d6fa70ae08830aa034"><div class="ttname"><a href="structDataBus.html#a8e2b1bd1613049d6fa70ae08830aa034">DataBus::fe_r_rot_L</a></div><div class="ttdeci">Eigen::Matrix3d fe_r_rot_L</div><div class="ttdoc">right foot rotation matrix in body frame</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00076">data_bus.h:76</a></div></div>
<div class="ttc" id="astructDataBus_html_a8426d381e3812f1223a8029f5f0ca5a3"><div class="ttname"><a href="structDataBus.html#a8426d381e3812f1223a8029f5f0ca5a3">DataBus::motors_pos_des</a></div><div class="ttdeci">std::vector&lt; double &gt; motors_pos_des</div><div class="ttdoc">all desired motors position</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00044">data_bus.h:44</a></div></div>
<div class="ttc" id="astructDataBus_html_a160475450d1af7e42d88d345c498f5ae"><div class="ttname"><a href="structDataBus.html#a160475450d1af7e42d88d345c498f5ae">DataBus::J_hd_l</a></div><div class="ttdeci">Eigen::MatrixXd J_hd_l</div><div class="ttdoc">jacobian matrix of left hand</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00057">data_bus.h:57</a></div></div>
<div class="ttc" id="astructDataBus_html_a6f017e61e7fc6b9c45ef671a710b34bc"><div class="ttname"><a href="structDataBus.html#a6f017e61e7fc6b9c45ef671a710b34bc">DataBus::qp_cpuTime_MPC</a></div><div class="ttdeci">double qp_cpuTime_MPC</div><div class="ttdoc">QP solver parameter - solving time,.</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00125">data_bus.h:125</a></div></div>
<div class="ttc" id="astructDataBus_html_addcaefa0eeba96ed370e8b24e4ebd940"><div class="ttname"><a href="structDataBus.html#addcaefa0eeba96ed370e8b24e4ebd940">DataBus::printdq</a></div><div class="ttdeci">static void printdq(const Eigen::VectorXd &amp;q)</div><div class="ttdoc">print the information of dq to the terminal</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00264">data_bus.h:264</a></div></div>
<div class="ttc" id="astructDataBus_html_a614b57b26f48851c0da4a87721efe71b"><div class="ttname"><a href="structDataBus.html#a614b57b26f48851c0da4a87721efe71b">DataBus::hip_r_pos_L</a></div><div class="ttdeci">Eigen::Vector3d hip_r_pos_L</div><div class="ttdoc">right hip position in body frame</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00072">data_bus.h:72</a></div></div>
<div class="ttc" id="astructDataBus_html_a1673b53d2c783faaf80cb549c2065d78"><div class="ttname"><a href="structDataBus.html#a1673b53d2c783faaf80cb549c2065d78">DataBus::updateQ</a></div><div class="ttdeci">void updateQ()</div><div class="ttdoc">update q (generalized coordinate) according to sensor values</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00224">data_bus.h:224</a></div></div>
<div class="ttc" id="astructDataBus_html_a92a868be7ed2d886f266e844399762dd"><div class="ttname"><a href="structDataBus.html#a92a868be7ed2d886f266e844399762dd">DataBus::js_eul_des</a></div><div class="ttdeci">Eigen::Vector3d js_eul_des</div><div class="ttdoc">euler angle command from joystick controller in body frame, for now, only yaw is controllable</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00109">data_bus.h:109</a></div></div>
<div class="ttc" id="astructDataBus_html_a9c4fd58f3ce8b0d79f96431c45e3dc87"><div class="ttname"><a href="structDataBus.html#a9c4fd58f3ce8b0d79f96431c45e3dc87">DataBus::motors_tor_des</a></div><div class="ttdeci">std::vector&lt; double &gt; motors_tor_des</div><div class="ttdoc">all desired motors torque</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00046">data_bus.h:46</a></div></div>
<div class="ttc" id="astructDataBus_html_a0564a337e371809806d164ce3946de28"><div class="ttname"><a href="structDataBus.html#a0564a337e371809806d164ce3946de28">DataBus::ddq</a></div><div class="ttdeci">Eigen::VectorXd ddq</div><div class="ttdoc">acceleration variable of the robot</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00052">data_bus.h:52</a></div></div>
<div class="ttc" id="astructDataBus_html_ad8eeb01c84d65c903a3e6190925af3f2"><div class="ttname"><a href="structDataBus.html#ad8eeb01c84d65c903a3e6190925af3f2">DataBus::fe_r_rot_W</a></div><div class="ttdeci">Eigen::Matrix3d fe_r_rot_W</div><div class="ttdoc">right foot rotation matrix in world frame</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00067">data_bus.h:67</a></div></div>
<div class="ttc" id="astructDataBus_html_a9b45a5287b92f51cc27899eee18f9ff2"><div class="ttname"><a href="structDataBus.html#a9b45a5287b92f51cc27899eee18f9ff2">DataBus::rpy</a></div><div class="ttdeci">double rpy[3]</div><div class="ttdoc">roll, pitch, yaw angle of the robot body in world frame</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00030">data_bus.h:30</a></div></div>
<div class="ttc" id="astructDataBus_html_af2ffb1739963462a7dfc20fc1e4a6192"><div class="ttname"><a href="structDataBus.html#af2ffb1739963462a7dfc20fc1e4a6192">DataBus::eul2Rot</a></div><div class="ttdeci">Eigen::Matrix&lt; double, 3, 3 &gt; eul2Rot(double roll, double pitch, double yaw)</div><div class="ttdoc">compute the rotation matrix using euler angle</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00295">data_bus.h:295</a></div></div>
<div class="ttc" id="astructDataBus_html_a9582a6fdf672e9dd3f08a390758aafaf"><div class="ttname"><a href="structDataBus.html#a9582a6fdf672e9dd3f08a390758aafaf">DataBus::hd_l_pos_W</a></div><div class="ttdeci">Eigen::Vector3d hd_l_pos_W</div><div class="ttdoc">left hand position in world frame</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00084">data_bus.h:84</a></div></div>
<div class="ttc" id="astructDataBus_html_ade7bf3a259767473423ff44a178b8dc1"><div class="ttname"><a href="structDataBus.html#ade7bf3a259767473423ff44a178b8dc1">DataBus::wbc_dq_final</a></div><div class="ttdeci">Eigen::VectorXd wbc_dq_final</div><div class="ttdoc">final generalized velocity after wbc computing</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00140">data_bus.h:140</a></div></div>
<div class="ttc" id="astructDataBus_html_aa1bf2f25cbec034e564125d6890df8f7"><div class="ttname"><a href="structDataBus.html#aa1bf2f25cbec034e564125d6890df8f7">DataBus::hd_r_pos_W</a></div><div class="ttdeci">Eigen::Vector3d hd_r_pos_W</div><div class="ttdoc">right hand position in world frame</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00083">data_bus.h:83</a></div></div>
<div class="ttc" id="astructDataBus_html_ac20879543c05bf3efff2d60a0e3b30b2"><div class="ttname"><a href="structDataBus.html#ac20879543c05bf3efff2d60a0e3b30b2">DataBus::desWz_W</a></div><div class="ttdeci">double desWz_W</div><div class="ttdoc">desired yaw-angular velocity in world frame</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00155">data_bus.h:155</a></div></div>
<div class="ttc" id="astructDataBus_html_aad4b760c5cb1103d2409810f887cace3"><div class="ttname"><a href="structDataBus.html#aad4b760c5cb1103d2409810f887cace3">DataBus::dJ_r</a></div><div class="ttdeci">Eigen::MatrixXd dJ_r</div><div class="ttdoc">jacobian time variation matrix of right leg</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00061">data_bus.h:61</a></div></div>
<div class="ttc" id="astructDataBus_html_ac2e4fb0dfd07ba322070e3bd6b204e33"><div class="ttname"><a href="structDataBus.html#ac2e4fb0dfd07ba322070e3bd6b204e33">DataBus::theta0</a></div><div class="ttdeci">double theta0</div><div class="ttdoc">offset yaw angle of the swing foot(+pi/2 for left and -pi/2 for right), w.r.t body frame</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00156">data_bus.h:156</a></div></div>
<div class="ttc" id="astructDataBus_html_a97c72f31ccfbc780ca768b6df47d5b8b"><div class="ttname"><a href="structDataBus.html#a97c72f31ccfbc780ca768b6df47d5b8b">DataBus::width_hips</a></div><div class="ttdeci">double width_hips</div><div class="ttdoc">distance between the left and right hip</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00157">data_bus.h:157</a></div></div>
<div class="ttc" id="astructDataBus_html_ac4981d5de060aa4bb117f39c2563c6ba"><div class="ttname"><a href="structDataBus.html#ac4981d5de060aa4bb117f39c2563c6ba">DataBus::base_pos_des</a></div><div class="ttdeci">Eigen::Vector3d base_pos_des</div><div class="ttdoc">desired body position in world frame</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00130">data_bus.h:130</a></div></div>
<div class="ttc" id="astructDataBus_html_a6c1e3ed7c41b379a2f60ba5ee67f2ed9"><div class="ttname"><a href="structDataBus.html#a6c1e3ed7c41b379a2f60ba5ee67f2ed9">DataBus::tauJointCmd</a></div><div class="ttdeci">Eigen::VectorXd tauJointCmd</div><div class="ttdoc">desired torque of the joint</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00093">data_bus.h:93</a></div></div>
<div class="ttc" id="astructDataBus_html_a0dcb8a4552bb6b37259a61d601cd7d7e"><div class="ttname"><a href="structDataBus.html#a0dcb8a4552bb6b37259a61d601cd7d7e">DataBus::LegState</a></div><div class="ttdeci">LegState</div><div class="ttdoc">enum current leg stance states</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00164">data_bus.h:164</a></div></div>
<div class="ttc" id="astructDataBus_html_a8174314fc64353b48695467949dddb20"><div class="ttname"><a href="structDataBus.html#a8174314fc64353b48695467949dddb20">DataBus::J_hd_r</a></div><div class="ttdeci">Eigen::MatrixXd J_hd_r</div><div class="ttdoc">jacobian matrix of right hand</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00058">data_bus.h:58</a></div></div>
<div class="ttc" id="astructDataBus_html_a6e6e46a9c55551f1f13b82d9f62ec1fc"><div class="ttname"><a href="structDataBus.html#a6e6e46a9c55551f1f13b82d9f62ec1fc">DataBus::dJ_hd_l</a></div><div class="ttdeci">Eigen::MatrixXd dJ_hd_l</div><div class="ttdoc">jacobian time variation matrix of left hand</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00062">data_bus.h:62</a></div></div>
<div class="ttc" id="astructDataBus_html_a7ddad63ca212708e9e3c880567c9f99a"><div class="ttname"><a href="structDataBus.html#a7ddad63ca212708e9e3c880567c9f99a">DataBus::dyn_M_inv</a></div><div class="ttdeci">Eigen::MatrixXd dyn_M_inv</div><div class="ttdoc">inverse of dynamic parameters dyn_M</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00095">data_bus.h:95</a></div></div>
<div class="ttc" id="astructDataBus_html_a2481f4929359c2f0fbdb6924f5f77958"><div class="ttname"><a href="structDataBus.html#a2481f4929359c2f0fbdb6924f5f77958">DataBus::hip_l_pos_W</a></div><div class="ttdeci">Eigen::Vector3d hip_l_pos_W</div><div class="ttdoc">left hip position in world frame</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00075">data_bus.h:75</a></div></div>
<div class="ttc" id="astructDataBus_html_ad4c67bd1538d0e0c6f101de61219666a"><div class="ttname"><a href="structDataBus.html#ad4c67bd1538d0e0c6f101de61219666a">DataBus::fe_r_pos_L</a></div><div class="ttdeci">Eigen::Vector3d fe_r_pos_L</div><div class="ttdoc">right foot position in body frame</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00070">data_bus.h:70</a></div></div>
<div class="ttc" id="astructDataBus_html_acc95bd4d4d7820893823fc0ad5ac3526"><div class="ttname"><a href="structDataBus.html#acc95bd4d4d7820893823fc0ad5ac3526">DataBus::baseAngVel</a></div><div class="ttdeci">double baseAngVel[3]</div><div class="ttdoc">angular velocity of the base link</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00036">data_bus.h:36</a></div></div>
<div class="ttc" id="astructDataBus_html_aa0f7ebdfdf0f8f731c742bed2e6303ed"><div class="ttname"><a href="structDataBus.html#aa0f7ebdfdf0f8f731c742bed2e6303ed">DataBus::qp_nWSR_MPC</a></div><div class="ttdeci">double qp_nWSR_MPC</div><div class="ttdoc">QP solver parameter.</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00124">data_bus.h:124</a></div></div>
<div class="ttc" id="astructDataBus_html_a872d4c01ddcc325893e0593a82a53653"><div class="ttname"><a href="structDataBus.html#a872d4c01ddcc325893e0593a82a53653">DataBus::stanceDesPos_W</a></div><div class="ttdeci">Eigen::Vector3d stanceDesPos_W</div><div class="ttdoc">stance foot position in world frame</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00152">data_bus.h:152</a></div></div>
<div class="ttc" id="astructDataBus_html_a8901e359598639544806c2ccde5cc7b3"><div class="ttname"><a href="structDataBus.html#a8901e359598639544806c2ccde5cc7b3">DataBus::J_r</a></div><div class="ttdeci">Eigen::MatrixXd J_r</div><div class="ttdoc">jacobian matrix of right foot</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00056">data_bus.h:56</a></div></div>
<div class="ttc" id="astructDataBus_html_a0b4be606ac9be86dc76f6e562d4af358"><div class="ttname"><a href="structDataBus.html#a0b4be606ac9be86dc76f6e562d4af358">DataBus::hd_l_rot_W</a></div><div class="ttdeci">Eigen::Matrix3d hd_l_rot_W</div><div class="ttdoc">left hand rotation matrix in world frame</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00086">data_bus.h:86</a></div></div>
<div class="ttc" id="astructDataBus_html_a55ce7b18613eaea0e8983d697b816e9a"><div class="ttname"><a href="structDataBus.html#a55ce7b18613eaea0e8983d697b816e9a">DataBus::thetaZ_des</a></div><div class="ttdeci">double thetaZ_des</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00171">data_bus.h:171</a></div></div>
<div class="ttc" id="astructDataBus_html_a38c64e972770545c6756d4d942dbaef4"><div class="ttname"><a href="structDataBus.html#a38c64e972770545c6756d4d942dbaef4">DataBus::fe_r_pos_L_cmd</a></div><div class="ttdeci">Eigen::Vector3d fe_r_pos_L_cmd</div><div class="ttdoc">desired command of right foot position in body frame</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00078">data_bus.h:78</a></div></div>
<div class="ttc" id="astructDataBus_html_ae96ef6b47b338248de9ba62fb99b7879"><div class="ttname"><a href="structDataBus.html#ae96ef6b47b338248de9ba62fb99b7879">DataBus::fe_r_rot_L_cmd</a></div><div class="ttdeci">Eigen::Matrix3d fe_r_rot_L_cmd</div><div class="ttdoc">desired command of right foot rotation matrix in body frame</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00080">data_bus.h:80</a></div></div>
<div class="ttc" id="astructDataBus_html_a6a5d9134fc0bae50e92f0dbf4c827544"><div class="ttname"><a href="structDataBus.html#a6a5d9134fc0bae50e92f0dbf4c827544">DataBus::dqCmd</a></div><div class="ttdeci">Eigen::VectorXd dqCmd</div><div class="ttdoc">desired command of velocity variable</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00092">data_bus.h:92</a></div></div>
<div class="ttc" id="astructDataBus_html_a09bff47a59cfc71aff09f62df7f4f95e"><div class="ttname"><a href="structDataBus.html#a09bff47a59cfc71aff09f62df7f4f95e">DataBus::des_delta_q</a></div><div class="ttdeci">Eigen::VectorXd des_delta_q</div><div class="ttdoc">desired generalized position increment (usually dq * dt)</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00133">data_bus.h:133</a></div></div>
<div class="ttc" id="astructDataBus_html_ab45a37863d3650eb9fde838c427eea72"><div class="ttname"><a href="structDataBus.html#ab45a37863d3650eb9fde838c427eea72">DataBus::FL_est</a></div><div class="ttdeci">Eigen::VectorXd FL_est</div><div class="ttdoc">estimation of the ground reaction force of left leg</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00040">data_bus.h:40</a></div></div>
<div class="ttc" id="astructDataBus_html_a44f2d7d4c5921d086e842faf04d6b5e3"><div class="ttname"><a href="structDataBus.html#a44f2d7d4c5921d086e842faf04d6b5e3">DataBus::motors_pos_cur</a></div><div class="ttdeci">std::vector&lt; double &gt; motors_pos_cur</div><div class="ttdoc">all current motors position</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00037">data_bus.h:37</a></div></div>
<div class="ttc" id="astructDataBus_html_af02ef8e966761be5381e8f8ce1f4f324"><div class="ttname"><a href="structDataBus.html#af02ef8e966761be5381e8f8ce1f4f324">DataBus::dJ_l</a></div><div class="ttdeci">Eigen::MatrixXd dJ_l</div><div class="ttdoc">jacobian time variation matrix of left leg</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00060">data_bus.h:60</a></div></div>
<div class="ttc" id="astructDataBus_html_a985be244042640dea42db4147c4e625b"><div class="ttname"><a href="structDataBus.html#a985be244042640dea42db4147c4e625b">DataBus::qCmd</a></div><div class="ttdeci">Eigen::VectorXd qCmd</div><div class="ttdoc">desired command of position variable</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00091">data_bus.h:91</a></div></div>
<div class="ttc" id="astructDataBus_html_af419057fb271481e6a87001d5610eb8e"><div class="ttname"><a href="structDataBus.html#af419057fb271481e6a87001d5610eb8e">DataBus::Xd</a></div><div class="ttdeci">Eigen::VectorXd Xd</div><div class="ttdoc">desired X state variable in MPC module</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00114">data_bus.h:114</a></div></div>
<div class="ttc" id="astructDataBus_html_a89e3ed169f2093e233629aebeb105fbc"><div class="ttname"><a href="structDataBus.html#a89e3ed169f2093e233629aebeb105fbc">DataBus::dyn_M</a></div><div class="ttdeci">Eigen::MatrixXd dyn_M</div><div class="ttdoc">dynamic parameters of the dynamic function M*ddq+C*dq+G=tau</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00094">data_bus.h:94</a></div></div>
<div class="ttc" id="astructDataBus_html_ab9671a85da9b64c8be6c8d7d822c3db9"><div class="ttname"><a href="structDataBus.html#ab9671a85da9b64c8be6c8d7d822c3db9">DataBus::model_nv</a></div><div class="ttdeci">const int model_nv</div><div class="ttdoc">number of the degree of freedom of the model, i.e. dq</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00023">data_bus.h:23</a></div></div>
<div class="ttc" id="astructDataBus_html_a05de3821b1aa986adc8a98ec8469d55a"><div class="ttname"><a href="structDataBus.html#a05de3821b1aa986adc8a98ec8469d55a">DataBus::js_vel_des</a></div><div class="ttdeci">Eigen::Vector3d js_vel_des</div><div class="ttdoc">velocity command from joystick controller in world frame</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00112">data_bus.h:112</a></div></div>
<div class="ttc" id="astructDataBus_html_af87720bdc128aaf11f6496200af1a1f9"><div class="ttname"><a href="structDataBus.html#af87720bdc128aaf11f6496200af1a1f9">DataBus::wbc_FrRes</a></div><div class="ttdeci">Eigen::VectorXd wbc_FrRes</div><div class="ttdoc">desired ground reaction force after wbc computing</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00143">data_bus.h:143</a></div></div>
<div class="ttc" id="astructDataBus_html_a4047b0d4ca169264a0388439313b63d9"><div class="ttname"><a href="structDataBus.html#a4047b0d4ca169264a0388439313b63d9">DataBus::legStateNext</a></div><div class="ttdeci">LegState legStateNext</div><div class="ttdoc">next leg stance state</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00173">data_bus.h:173</a></div></div>
<div class="ttc" id="astructDataBus_html_a3300095871d62258ed87b0a8b00e6b95"><div class="ttname"><a href="structDataBus.html#a3300095871d62258ed87b0a8b00e6b95">DataBus::fe_l_pos_L</a></div><div class="ttdeci">Eigen::Vector3d fe_l_pos_L</div><div class="ttdoc">left foot position in body frame</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00071">data_bus.h:71</a></div></div>
<div class="ttc" id="astructDataBus_html_ae46a01b6e4a05927577e0f9a58bb9528"><div class="ttname"><a href="structDataBus.html#ae46a01b6e4a05927577e0f9a58bb9528">DataBus::dyn_dAg</a></div><div class="ttdeci">Eigen::MatrixXd dyn_dAg</div><div class="ttdoc">Centroidal Momentum Matrix time variant.</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00098">data_bus.h:98</a></div></div>
<div class="ttc" id="astructDataBus_html_a298ff350cb0f7dc9679fb90909aa4650"><div class="ttname"><a href="structDataBus.html#a298ff350cb0f7dc9679fb90909aa4650">DataBus::js_pos_des</a></div><div class="ttdeci">Eigen::Vector3d js_pos_des</div><div class="ttdoc">position command from joystick controller in world frame</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00110">data_bus.h:110</a></div></div>
<div class="ttc" id="astructDataBus_html_a29ea8abda4616465d07ecacf866f7ab6"><div class="ttname"><a href="structDataBus.html#a29ea8abda4616465d07ecacf866f7ab6">DataBus::dyn_G</a></div><div class="ttdeci">Eigen::VectorXd dyn_G</div><div class="ttdoc">dynamic parameters of the dynamic function M*ddq+C*dq+G=tau</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00099">data_bus.h:99</a></div></div>
<div class="ttc" id="astructDataBus_html_abbf1e7f7fea2191d05ce3252ae52e879"><div class="ttname"><a href="structDataBus.html#abbf1e7f7fea2191d05ce3252ae52e879">DataBus::wbc_delta_q_final</a></div><div class="ttdeci">Eigen::VectorXd wbc_delta_q_final</div><div class="ttdoc">final generalized position increment after wbc computing</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00139">data_bus.h:139</a></div></div>
<div class="ttc" id="astructDataBus_html_a4c5b5784c198db0660db285b308a541f"><div class="ttname"><a href="structDataBus.html#a4c5b5784c198db0660db285b308a541f">DataBus::desV_W</a></div><div class="ttdeci">Eigen::Vector3d desV_W</div><div class="ttdoc">desired body linear velocity in world frame</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00154">data_bus.h:154</a></div></div>
<div class="ttc" id="astructDataBus_html_a1bb8296c8580550caf059e975149658e"><div class="ttname"><a href="structDataBus.html#a1bb8296c8580550caf059e975149658e">DataBus::fe_r_pos_W</a></div><div class="ttdeci">Eigen::Vector3d fe_r_pos_W</div><div class="ttdoc">right foot position in world frame</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00064">data_bus.h:64</a></div></div>
<div class="ttc" id="astructDataBus_html_a0dcb8a4552bb6b37259a61d601cd7d7ea08979273410aa36b9c631368513397ec"><div class="ttname"><a href="structDataBus.html#a0dcb8a4552bb6b37259a61d601cd7d7ea08979273410aa36b9c631368513397ec">DataBus::LSt</a></div><div class="ttdeci">@ LSt</div><div class="ttdoc">left leg stance</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00166">data_bus.h:166</a></div></div>
<div class="ttc" id="astructDataBus_html_ac2c307051d65ea3679fdc630ac28bbc2"><div class="ttname"><a href="structDataBus.html#ac2c307051d65ea3679fdc630ac28bbc2">DataBus::dyn_C</a></div><div class="ttdeci">Eigen::MatrixXd dyn_C</div><div class="ttdoc">dynamic parameters of the dynamic function M*ddq+C*dq+G=tau</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00096">data_bus.h:96</a></div></div>
<div class="ttc" id="astructDataBus_html_a0dcb8a4552bb6b37259a61d601cd7d7ea4b29d84a010b44b9b4110be2183ab3a2"><div class="ttname"><a href="structDataBus.html#a0dcb8a4552bb6b37259a61d601cd7d7ea4b29d84a010b44b9b4110be2183ab3a2">DataBus::DSt</a></div><div class="ttdeci">@ DSt</div><div class="ttdoc">no use but reserverd</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00168">data_bus.h:168</a></div></div>
<div class="ttc" id="astructDataBus_html_a34bcde8ab49fc624a23771e8972248ed"><div class="ttname"><a href="structDataBus.html#a34bcde8ab49fc624a23771e8972248ed">DataBus::qp_status</a></div><div class="ttdeci">int qp_status</div><div class="ttdoc">QP solving outcomes (successful or not)</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00147">data_bus.h:147</a></div></div>
<div class="ttc" id="astructDataBus_html_ad7a084dee55715eb8e65307137d71ee5"><div class="ttname"><a href="structDataBus.html#ad7a084dee55715eb8e65307137d71ee5">DataBus::dyn_Ag</a></div><div class="ttdeci">Eigen::MatrixXd dyn_Ag</div><div class="ttdoc">Centroidal Momentum Matrix.</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00097">data_bus.h:97</a></div></div>
<div class="ttc" id="astructDataBus_html_a5b79678006c606fc8e70a082f4fb1fe4"><div class="ttname"><a href="structDataBus.html#a5b79678006c606fc8e70a082f4fb1fe4">DataBus::baseLinVel</a></div><div class="ttdeci">double baseLinVel[3]</div><div class="ttdoc">linear velocity of the base(body) of the robot</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00034">data_bus.h:34</a></div></div>
<div class="ttc" id="astructDataBus_html_a79a32e4d61bd3d1d9026230669cf418f"><div class="ttname"><a href="structDataBus.html#a79a32e4d61bd3d1d9026230669cf418f">DataBus::Fr_ff</a></div><div class="ttdeci">Eigen::VectorXd Fr_ff</div><div class="ttdoc">feedforwrd force (ground reaction force) computed by MPC, is the first horizon result of fe_react_tau...</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00144">data_bus.h:144</a></div></div>
<div class="ttc" id="astructDataBus_html_ab3279b454456687b2293f804b7e70390"><div class="ttname"><a href="structDataBus.html#ab3279b454456687b2293f804b7e70390">DataBus::fR</a></div><div class="ttdeci">double fR[3]</div><div class="ttdoc">reaction force from ground to the right foot of the robot</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00032">data_bus.h:32</a></div></div>
<div class="ttc" id="astructDataBus_html_ab7eb16bbdf791e8f4e08e10cacf9e1fa"><div class="ttname"><a href="structDataBus.html#ab7eb16bbdf791e8f4e08e10cacf9e1fa">DataBus::hd_r_pos_L</a></div><div class="ttdeci">Eigen::Vector3d hd_r_pos_L</div><div class="ttdoc">left hand position in body frame</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00087">data_bus.h:87</a></div></div>
<div class="ttc" id="astructDataBus_html_a377a7cdd1719fbdd45391759c52937f4"><div class="ttname"><a href="structDataBus.html#a377a7cdd1719fbdd45391759c52937f4">DataBus::dyn_Non</a></div><div class="ttdeci">Eigen::VectorXd dyn_Non</div><div class="ttdoc">dynamic parameters of the dynamic function M*ddq+C*dq+G=tau, dyn_Non=dyn_C*dq+dyn_G</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00100">data_bus.h:100</a></div></div>
<div class="ttc" id="astructDataBus_html_af3616a7ffbfec988f239485c4b550a2f"><div class="ttname"><a href="structDataBus.html#af3616a7ffbfec988f239485c4b550a2f">DataBus::legState</a></div><div class="ttdeci">LegState legState</div><div class="ttdoc">current leg stance state</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00172">data_bus.h:172</a></div></div>
<div class="ttc" id="astructDataBus_html_af13c859c256c7844154a2aac483123bd"><div class="ttname"><a href="structDataBus.html#af13c859c256c7844154a2aac483123bd">DataBus::fe_R_rot_L_off</a></div><div class="ttdeci">const Eigen::Matrix3d fe_R_rot_L_off</div><div class="ttdoc">right foot-end Rotation matrix w.r.t the local(body) frame in offset posture</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00027">data_bus.h:27</a></div></div>
<div class="ttc" id="astructDataBus_html_a3d71c2856c6ecbfec729a09024d026f8"><div class="ttname"><a href="structDataBus.html#a3d71c2856c6ecbfec729a09024d026f8">DataBus::J_l</a></div><div class="ttdeci">Eigen::MatrixXd J_l</div><div class="ttdoc">jacobian matrix of left foot</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00055">data_bus.h:55</a></div></div>
<div class="ttc" id="astructDataBus_html_ad3ec45a371e1a6cb72a158e651647cd6"><div class="ttname"><a href="structDataBus.html#ad3ec45a371e1a6cb72a158e651647cd6">DataBus::dJ_base</a></div><div class="ttdeci">Eigen::MatrixXd dJ_base</div><div class="ttdoc">jacobian time variation matrix of the baselink</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00059">data_bus.h:59</a></div></div>
<div class="ttc" id="astructDataBus_html_a66bfad87a864abd89bd6a0308e65ebc4"><div class="ttname"><a href="structDataBus.html#a66bfad87a864abd89bd6a0308e65ebc4">DataBus::basePos</a></div><div class="ttdeci">double basePos[3]</div><div class="ttdoc">linear position of the base(body) of the robot</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00033">data_bus.h:33</a></div></div>
<div class="ttc" id="astructDataBus_html_ae779042fd8fb64ba3e21a505c5f1a6d6"><div class="ttname"><a href="structDataBus.html#ae779042fd8fb64ba3e21a505c5f1a6d6">DataBus::base_omega_L</a></div><div class="ttdeci">Eigen::Vector3d base_omega_L</div><div class="ttdoc">body angle velocity expressed in local frame</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00101">data_bus.h:101</a></div></div>
<div class="ttc" id="astructDataBus_html"><div class="ttname"><a href="structDataBus.html">DataBus</a></div><div class="ttdoc">The software model for data transporting.</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00022">data_bus.h:22</a></div></div>
<div class="ttc" id="astructDataBus_html_a0afb2e446d4c0caedd5c4e0f97695f34"><div class="ttname"><a href="structDataBus.html#a0afb2e446d4c0caedd5c4e0f97695f34">DataBus::stance_fe_rot_cur_W</a></div><div class="ttdeci">Eigen::Matrix3d stance_fe_rot_cur_W</div><div class="ttdoc">current stance foot end angle position in world frame</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00138">data_bus.h:138</a></div></div>
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